Two Rules Based Fuzzy Swing-up and Four Rules Based Nonlinear Fuzzy Stabilization of Rotary Inverted Pendulum and Comparison with Linear Fuzzy Controller and Lqr
نویسندگان
چکیده
In this paper, Swing-up and Stabilization of the Rotary inverted pendulum (RIP) is done through the fuzzy controller.The attraction of this paper is achieving the above stated aim through lesser number of rules. RIP is highly unstable and nonlinear in nature, so stabilization of the RIP is itself a challenging task. Swing-up mechanism in RIP is a type of unstable mechanism which is done effectively by using a fuzzy controller only, by just two rules. There are four states of RIP that needs to be controlled and they are controlled by fuzzy controller with the help of only four rules.Simulation which is done on MATLAB/SIMULINK shows the effectiveness of the proposed controller and its implementation, successfully in real time. Keywords– Swing-up fuzzy, Stabilization fuzzy,
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