Dynamic Performance Comparison of PD and PD-Fuzzy Logic Controllers for Inverted Pendulum System

Abstract

Inverted pendulum system is a well-known conventional tool used to test the success and the ability of the various control methods. Inverted pendulum system consists of mostly an inverted pendulum and a movable cart that it is mounted on. Certainly, this system has a highly complex nonlinear structure that the simple control methods could not cope with it. Main purpose of the control is to keep the pendulum balanced and stable in the upright position in that it is inherently unstable, while keeping cart position in a determined place on the surface. In this study, separately, PD and PD-Fuzzy control methods have been used to control the inverted pendulum system.