도립진자 시스템의 안정화를 위한 상태변수 조합 퍼지 제어기 설계

Abstract

The inverted pendulum system is a typical nonlinear unstable system because this system tend to fall down when its does not exert to proper force. Therefore inverted pendulum system is a common, interesting control problem that involves many basic elements of control theory. In the early, controls of stabilization for the inverted pendulum system were used classical methods like PD, PID controller. In recently, however, control methods based on modern and intelligent control theory are widely applied.

In particular, fuzzy logic controller which is often used in nonlinear control is a little too hard to design due to increasing fuzzy rules rapidly if the given system like inverted pendulum has many state variables. Also, in case the state variables is tied with two parts, two fuzzy controller is designed in the one control system. In this paper, therefore, propose Fuzzy Controller based on State variables Combination(FCSC) that applies only one of the fuzzy controller using the input variables as two new reorganized signals by combination properly for the four state variables of the inverted pendulum system. Proposed method apply to the inverted pendulum system and control performance is demonstrated through simulation.