Fuzzy Control for the Swing-Up of the Inverted Pendulum System

The nonlinear inverted-pendulum system is an unstable and non-minimum phase system. It is often used to be the controlled target to test the qualities of the controllers like PID, optimal LQR, Neural network, adaptive, and fuzzy logic controller, etc. This paper will describe a new fuzzy controller for an inverted pendulum system. In this case, a fuzzy controller followed with a state space controller was implemented for control. It is achieved to design a control condition for the pendulum to swing up in one direction only because that the movement of throwing a bowling ball can only from one side to the unstable equilibrium point. Simulation and experimental results show that the fuzzy control can swing up the single inverted pendulum in short time with well stability and strong robustness.