A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers

摘要

Inverted pendulum on cart belongs to a class of highly non-linear, multivariable and complex system which is currently a keen area of interest for researchers in the field of control engineering and robotics. This paper considers stabilisation and control of inverted pendulum on cart moving on an inclined surface. The task of controlling inverted pendulum on inclined surface is much difficult as compared to that moving on horizontal surface. An offline control of the proposed system has been successfully achieved using proportional-integral-derivative (PID) and fuzzy controllers. A Matlab-Simulink model of the proposed system has been built using mathematical equations derived from Newton's second law. The study compares the proposed techniques in terms of settling time, overshoot, undershoot and steady state error. The simulation results are illustrated with the help of graphs and tables which confirms the validity of the proposed techniques.