Design of Intelligent Controllers for Double Inverted Pendulum

In this paper, first a fuzzy controller is proposed for systems comprising two inverted pendulums placed in the same plane, where one pendulum moves along the X-axis and the other moves along the Y-axis; rules of a Fuzzy-Mamdani controller is improved by considering the behavior of an operator and a the developed expert system and by trial and error in the observation of the system’s behavior. Simulation results obtained in MATLAB are proposed and then two other intelligent methods are presented. In the second proposed method, a TSK controller is designed with Anfis training approach and its simulation results are presented. Finally, a non-fuzzy controller (linearization feedback) is used as the supervisor fuzzy controller and the simulation results are presented. At last, performance of the three controllers is compared and the results are demonstrated