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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