Modeling and control of inverted pendulum based on PWA-FUZZY approach

Abstract

The inverted pendulum is the most popular benchmark for teaching and researches in control theory and robotics. Modeling and control of inverted pendulum on a cart is as one of the most important case in control theory. In this paper a new method in Piecewise Affine (PWA) models identification based on numerical analysis is proposed. The evaluation of this algorithm is investigated on a real system. Also the PWA-FUZZY approach as a solution to obviate the problem of hard switching in PWA system is used. A patched LQR and LQG controller in order to stabilize open-loop unstable equilibrium point of this system is proposed.