Stabilization of Rotary Inverted Pendulum using Proportional Derivative and Fuzzy Controls

Abstract

The rotary-type inverted pendulum is a crucial practical example in many control applications, for example are robotics systems, aerospace systems and industrial crane systems. Furthermore, model and analysis of inverted pendulum control play an important role in Segways systems, and balancing robots. The control problem on the rotary inverted pendulum is challenging because it is necessary to stabilize the system sequentially from the rotary arm followed by the stabilizing up down arm. This paper presents a 3D model of Rotary Inverted Pendulum (RIP) and balancing the pendulum link using proportional derivative (PD) and fuzzy logic controls. Visualization of controlled RIP movement to balance the pendulum arm is displayed via Simscape Matlab. The goal is to simplify the implementation in real terms and get a visualization that is close to the real condition. It shows that fuzzy scheme has a smoother and more stable response than the PD scheme, it has been seen both from the pendulum angle trajectory and from the visualization video.