Modelling and Performance Comparison of PD and Takagi-Sugeno Type Fuzzy Logic Controllers for Inverted Pendulum System

Abstract

In recent years, fuzzy logic based modeling and control methods have been increasingly used in both industrial applications and academic field. Inverted pendulum system consists of conventional materials with nonlinear dynamic structure to test types of controllers. This paper presents a simulation study of Takagi-Sugeno type Fuzzy Logic Controllers for an inverted pendulum (cart-pole) system. A Takagi-Sugeno method was applied to the inverted-pendulum system, which can balance the pendulum over a bigger range of pole angle and cart position. Fuzzy logic controller proposed in this study is compared with the conventional PD controller in order to demonstrate the successes of the proposed controller. This study aims to determine the best control strategy that provides better performance with reference to pendulum's angle and cart's position. A Takagi-Sugeno type Fuzzy Logic Controller yields better results in terms of rise time, settling time, overshoot and steady state error compared to PD controller. Simulation results are shown to prove the effectiveness and robustness of the suggested fuzzy controller.