Segmented control based on fuzzy logic control for non-linear inverted pendulum swing-up

Abstract

This paper proposes a switching control design for a rotating inverted pendulum. This design mode can be extended to any other existed control system to enhance their system performance. The existed rotating inverted pendulum control system consists of two controllers, namely, swing-up controller and stabilising controller. Here, we adopt three controller candidates to enhance system performance. A fuzzy logic control (FLC) is proposed to form the third controller candidate embedded into the existing one for the non-linear rotating inverted pendulum system. A given example illustrates the availability of the proposed design method.