Optimal Design of a Fuzzy PID Controller for Inverted Pendulum System

Abstract

In this paper, a very simple and efficient technique to tune a PID controller using fuzzy logic in order to control a cart-pole type inverted pendulum system has been proposed. Due to its high non-linearity, inherent instability, and multiple outputs, controlling the inverted pendulum is a challenging task. Here, the Simulink model of the inverted pendulum system is built and then a conventional PID controller is designed. Thereafter, the fuzzy PID (FPID) controller is designed to control the angle of deviation. The efficacies of the propose technique have been demonstrated through both qualitative and quantitative analysis of experimental results. The tracking efficiency and control force are investigated to demonstrate the superiority of proposed fuzzy PID controller over the conventional PID controller.