Fuzzy versus PID control of an inverted pendulum

Abstract

Nowadays, modern control system engineering is a very important field in industrial and automation system. Control systems give many contributions in the advance of engineering field today. The paradigmatic inverted pendulum problem is one of the most important and favorite topics for control system enthusiasts. This inverted pendulum represents a challenging control problem, which continually moves towards an uncontrolled state. The inverted pendulum inherently unstable and must be actively balanced in order to remain upright. This paper presents the simulation study of several control strategy delivers better performance with respect to pendulum’s angle and cart’s position .Two controller are presented such as Proportional-Integral-Derivate (PID) for controlling the linear system of inverted pendulum and Fuzzy Logic Controller (FLC) for controlling the non-linear system of inverted pendulum model. Simulation study has been done in Simulink shows that FLC produced better response compared to PID control strategies and offers considerable robustness.