The Modeling and Performance Comparison of PD and Takagi-Sugeno Type Fuzzy Logic Controllers for Inverted Pendulum System
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Date
2016Author
Şit, Sami
Kılıç, Erdal
Özçalık, Hasan Rıza
Alhasan, Hussein Alruim
Gani, Ahmet
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In recent years, fuzzy logic based modeling and control methods have been increasingly used in the
academic field. Inverted pendulum system consists of conventional materials with nonlinear dynamic
structure in order to test types of controllers. This paper presents a simulation study of Takagi-Sugeno
type fuzzy logic controllers for an inverted pendulum (cart-pole) system. A Takagi-Sugeno method was
applied to the inverted-pendulum system, which can balance the pendulum over a greater range of
pole angle and cart position. Takagi-Sugeno fuzzy logic controller proposed in this study is compared
with the conventional PD controller in order to demonstrate the performance of the proposed
controller. This study aims to determine the best control strategy that provides better performance in
terms of pendulum's angle and cart's position. A Takagi-Sugeno type fuzzy logic controller yields better
results. Simulation results demonstrated that the proposed fuzzy controller is effectiveness and
robust.
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