Vertical-rotary inverted pendulum system based on fuzzy control

Abstract

Fuzzy control was used to control a vertical rotary invert-pendulum with single fulcrum due to its complex characteristics in this paper. Movable equation of the inverted pendulum was derived, according to the dynamics analysis method of Lagrange. By system feasible approximation, an easily analytical math model was deduced. At the same time, the fuzzy logical tool package of MATLAB was used to build FIS of the inverted pendulum, and the function of figure modeling and simulation in it to simulate inverted pendulum. The results shows that the method is practicable.

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