Enhancement for the Position of Inverted Pendulum Using Linear Quadratic Regulator Based Fuzzy System
European Journal of Molecular & Clinical Medicine,
2020, Volume 7, Issue 4, Pages 757-765
AbstractIn this work, the problem of controlling the inverted pendulum has been investigated in detail. A different application that resembles inverted pendulum system has been studied. It considers the model, state space form representation with ricotta equation for optimal control applied to the nonlinear system with state and output variables. Later, to control the system several control system techniques has been applied in the literature survey. The challenging part is the fuzzy based method, to control position and for stabilization of the inverted pendulum with the application of appropriate rules of the overshoot and settling time is obtained within the desired value. The fuzzy based LQR is designed for a nonlinear system using MATLAB/SIMULINK. Also, a detailed study about the mathematical model of an inverted pendulum system is deliberated. The position of inverted pendulum is tuned using the same LQR controller. The simulation results show the performance of fuzzy LQR. By varying the pendulum parameters to different values, the robustness of the controller that has been used is checked.
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