Fuzzy Granular Computing-Based Controller Design for Inverted Pendulum System with Delay

Abstract

Fuzzy control as a method used in control design has been predominant when the plant mathematical model is unavailable. Granular computing has been seen as a process which speeds up the fuzzy methodology when combined to the fuzzy control design. Inverted pendulum control and stabilization are a classical problem investigated in this work. The stabilization of the pendulum is achieved with an advanced fuzzy granular computing-based controller under the influence of time delay. The controller which was a combination of fuzzy type-2 controller along with classical PID controller achieved the control. However, it was seen that the impact of time delay with advanced fuzzy controllers is significant even if there was a unit transportation delay in the system the output response suffers which becomes a major drawback and which indicates the need for possible boundaries in time delay systems.