Design of mamdani cascade fuzzy control system for inverted pendulum

Abstract

An inverted pendulum is a typically unstable and nonlinear system with multivariables and strong coupling. Fuzzy control theory is introduced to study pendulum swing angle stability problem and trolley displacement control problem. This chapter proposes Mamdani type of cascade fuzzy control design in which Mamdani fuzzy controller is used on the inner loop to control pendulum swing angle while Mamdani fuzzy controller is used on the outer loop to control trolley position. Simulink simulation results show that the fuzzy control design is highly efficient. © 2014 Springer Science+Business Media New York.