Intelligent control of nonlinear inverted pendulum system using Mamdani and TSK fuzzy inference systems: a performance analysis without and with disturbance input Online publication date: Wed, 23-Jan-2019
by Lal Bahadur Prasad; Hari Om Gupta; Barjeev Tyagi
International Journal of Intelligent Systems Design and Computing (IJISDC), Vol. 2, No. 3/4, 2018
Abstract: Fuzzy control, an intelligent control technique uses the human expert knowledge to make control decisions. The inverted pendulum, a highly nonlinear unstable system is used as a benchmark for implementing the control methods. In this paper the modelling and control design of nonlinear inverted pendulum-cart dynamic system with and without disturbance input have been presented. Here PID control and fuzzy control methods using Mamdani type and Takagi-Sugeno-Kang (TSK) type fuzzy inference systems (FIS) have been implemented to control the cart position and to stabilise the inverted pendulum in vertically upright position. The MATLAB-Simulink models have been developed for simulation of the control schemes. The simulation results and performance analysis justify the comparative advantages of fuzzy control methods.
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