Title: Intelligent control of nonlinear inverted pendulum system using Mamdani and TSK fuzzy inference systems: a performance analysis without and with disturbance input

Authors: Lal Bahadur Prasad; Hari Om Gupta; Barjeev Tyagi

Addresses: Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, Uttarakhand – 247667, India ' Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, Uttarakhand – 247667, India ' Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee, Uttarakhand – 247667, India

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.

Keywords: inverted pendulum; IP; disturbance input; nonlinear system; PID control; fuzzy control; intelligent control; Mamdani FIS; TSK FIS.

DOI: 10.1504/IJISDC.2018.097477

International Journal of Intelligent Systems Design and Computing, 2018 Vol.2 No.3/4, pp.313 - 334

Received: 06 Jul 2017
Accepted: 07 Sep 2018
Published online: 23 Jan 2019 *

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