Control of an inverted pendulum using fuzzy logic

Includes bibliographical references (leaf 52)The application of a Fuzzy Logic Controller (FLC) to the inverted pendulum system is presented in this thesis. The main goal of this thesis is to study the Inverted Pendulum System and controlling of system using fuzzy logic with the help of MATLAB - Simulink. The inverted pendulum is a challenging problem from its control point of view, which continuously moves from its stable position. First is to derive the mathematical model of an inverted pendulum using differential equations and free body diagram. Second is to design MATLAB script/Simulink model using Fuzzy Logic Toolbox to control/stabilize the system. In the end of this thesis, simulation results based Fuzzy Logic Controller have been observed for different cases for linear and non-linear models. All observations have been tested with step input, impulse input and with initial conditions of pole angle and cart position in the absence of extremal forces for both models