Comparison of Position Control of a Gyroscopic Inverted Pendulum Using PID, Fuzzy Logic and Fuzzy PID controllers

This paper presents the modeling and control of a gyroscopic inverted pendulum. Inverted pendulum is used to realize many classical control problems. Its dynamics are similar to many real-world systems like missile launchers, human walking and many more. The control of this system is challenging as it's highly unstable which will tend to fall on either side due to the gravitational force. In this paper, we are going to stabilize the gyroscopic inverted pendulum using PID controller, fuzzy logic controller and fuzzy PID controller. These controllers will be compared to determine the performance and to distinguish which one has the better response. Experiments and simulations are conducted to examine the different controllers and results are presented under different disturbance scenarios.