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Study On Control of Inverted Pendulum System Based On Simulink Simulation

This study aims to conduct control research on an inverted pendulum system using the Simulink simulation platform. The inverted pendulum system is a classic nonlinear dynamic system with important theoretical and practical applications. Firstly, establish a mathematical model of the inverted pendulum system, including the dynamic equation of the pendulum rod and the sensor measurement model. Subsequently, the PID (proportional integral differential) controller design method based on the inverted
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0% found this document useful (0 votes)
76 views9 pages

Study On Control of Inverted Pendulum System Based On Simulink Simulation

This study aims to conduct control research on an inverted pendulum system using the Simulink simulation platform. The inverted pendulum system is a classic nonlinear dynamic system with important theoretical and practical applications. Firstly, establish a mathematical model of the inverted pendulum system, including the dynamic equation of the pendulum rod and the sensor measurement model. Subsequently, the PID (proportional integral differential) controller design method based on the inverted
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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International Journal of Advanced Engineering Research and

Science (IJAERS)
Peer-Reviewed Journal
ISSN: 2349-6495(P) | 2456-1908(O)
Vol-10, Issue-12; Dec, 2023
Journal Home Page Available: https://ijaers.com/
Article DOI:https://dx.doi.org/10.22161/ijaers.1012.1

Study on Control of Inverted Pendulum System Based on


Simulink Simulation
Yongsheng Li, Jiahui Feng, Ruei-Yuan Wang, Ho-Sheng Chen, Yongzhen Gong*

School of Mechanical and Electrical Engineering, Guangdong University of Petrochem Technology (GDUPT), Maoming 525000, China
*Corresponding author

Received: 06 Oct 2023, Abstract— This study aims to conduct control research on an inverted
Receive in revised form: 10 Nov 2023, pendulum system using the Simulink simulation platform. The inverted
pendulum system is a classic nonlinear dynamic system with important
Accepted: 22 Nov 2023,
theoretical and practical applications. Firstly, establish a mathematical
Available online: 05 Dec 2023 model of the inverted pendulum system, including the dynamic equation of
©2023 The Author(s). Published by AI the pendulum rod and the sensor measurement model. Subsequently, the
Publication. This is an open access article PID (proportional integral differential) controller design method based on
under the CC BY license the inverted pendulum system and the fuzzy PID controller design methods
(https://creativecommons.org/licenses/by/4.0/). were verified through simulation experiments. The ultimate goal is for the
Keywords— Inverted pendulum system, designed fuzzy PID controller to effectively stabilize the inverted pendulum
Proportional integral differential (PID) system in the vertical position and achieve fast tracking of the target
control, Fuzzy PID control, Nonlinear position. Simulation and experimental results show that compared to
dynamic system, Simulink simulation traditional PID controllers, fuzzy PID controllers can quickly stabilize the
pendulum in the target position and have good practicality, stability, speed,
and accuracy. Future research can further explore the application of other
advanced control strategies in inverted pendulum systems, as well as their
potential applications in practical engineering.

I. INTRODUCTION inverted pendulums, planar inverted pendulums, composite


The initial research on inverted pendulums began in inverted pendulums, etc. according to their composition.
the 1950s, designed by control theory experts at the According to their complexity, they can be divided into
Massachusetts Institute of Technology (MIT) in the United primary inverted pendulum systems, secondary inverted
States based on the principle of rocket launch boosters. pendulum systems, tertiary inverted pendulum systems,
The inverted pendulum system, as the model foundation and multi-level inverted pendulum systems. The first-level
for shipborne radar, rocket launch systems, and satellite inverted pendulum system consists of a driving motor, a
attitude control, has been the focus of many researchers in conveyor belt, a pendulum rod, a small car, and a test
the past few decades. The research on inverted pendulums bench [1, 2, 3 ]. The first-level linear inverted pendulum
will tend towards more complex and in-depth studies. system is driven by an electric motor and is an unstable,
Inverted pendulum systems can be divided into linear nonlinear, single-input, double-output, strongly coupled

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Li et al. International Journal of Advanced Engineering Research and Science, 10(12)-2023

system [4, 5, 6, 14, 15]. It controls both the angle of the established using the Simulink module of MTALAB [9, 10,
pendulum and the position of the trolley to be stable, and 11, 13]. Finally, by comparing and analyzing the curves
the steady-state errors of the trolley position and pendulum and parameters of the established traditional PID controller
angle must be controlled within a small range. and fuzzy PID controller, this study is trying to find out
The control of the inverted pendulum is a difficult whether the fuzzy PID control method is better or not than
point in the study of inverted pendulum control, and there the ordinary PID control method in terms of stability and
have been many studies on the inverted pendulum, which speed.
are basically based on the assumption that the trolley track
of the inverted pendulum system is sufficiently long [7]. II. ESTABLISHING MATHEMATICAL MODEL
With the development of technology, new control methods The working principle of a first-order linear inverted
are constantly emerging, and people use inverted pendulum (Figure 1) is that when the data acquisition card
pendulums to test whether new control methods can transmits the collected data from the rotary encoder to the
handle multivariable, nonlinear, and absolute instability. computer and compares it with the set value. The deviation
The inverted pendulum has become an ideal experimental is processed through some calculation, and a control law is
method for testing the effectiveness of control strategies issued to control the motor to make the pendulum swing
[8]. This article focuses on a first-order inverted pendulum left and right into the stable range, thereby achieving the
system. Firstly, a mathematical model is established using pendulum to stand upright and not fall, as well as
the knowledge of Newtonian mechanics, and then a self-swing [12].
simulation model of the inverted pendulum system is

Fig.1 Working Principle Diagram of a First Level Linear Inverted Pendulum

Because establishing a mathematical model of the coefficient of the car rf =0.1N/m/sec, the inertia of the
system is the foundation for studying control methods, the swing rod I=0.0034kg*m2, and the gravitational
first step is to model the inverted pendulum system in this acceleration g=9.8N/ m2. The physical model diagram of
paper. And mathematical modeling is carried out using the the inverted pendulum system is shown in Figure 2. A
Newtonian mechanics method to obtain the state-space detailed decomposition of various forces acting on the
equation of the system and prepare for the subsequent pendulum and trolley using Newtonian mechanics
controller design and simulation. methods is shown in Figure 3. P and N are set as the
The model parameters of the inverted pendulum components of the interaction force in the vertical and
system are the pendulum mass m1=0.109kg, the trolley horizontal directions during the movement or stability of
mass m2=1.096kg g, the angle between the pendulum and the car.
the vertical direction θ (rad), the distance from the center
of the swing rod to the car l=0.25m, the distance the car
moves x (m), the force applied to the car f (N), the friction

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Set angle θ= π+ φ, and φ after being converted to radians,

it is much less than 1 rad, that is φ ≪ 1. So it can be


𝑑𝜃 2
simplified as cos 𝜃 = −1, and sin 𝜃 = −𝜑,( ) = 0.
𝑑𝑡

Using u instead of the input force F, equations (3) and (6)


can be simplified as:
(I + 𝑚1 𝑙 2 )𝜑̈ − 𝑚1 g𝑙𝜑 =
̇ 𝑚1 𝑙𝑥̈
{
(𝑚2 + 𝑚)𝑥̈ + 𝑟𝑓 𝑥̇ − 𝑚1 𝑙𝜑̈ = 𝑢
(7)
Fig.2 Physical Model of Inverted Pendulum System Perform a Laplace transform on the above equation, which
will be
(I + 𝑚1 𝑙 2 )Φ(𝑠)𝑠 2 − 𝑚1 g𝑙Φ(𝑠) = 𝑚1 𝑙Χ(𝑠)𝑠 2
{
(𝑚2 + 𝑚)Χ(𝑠)𝑠 2 + 𝑟𝑓 Χ(𝑠)𝑠 − 𝑚1 𝑙Φ(𝑠)𝑠 2 = 𝑈(𝑆)
(8)
The first equation in the above equation can be written as
follows:
Φ(𝑆) 𝑚1 𝑙𝑠 2
= (9)
𝑋(𝑆) (𝐼+𝑚1 𝑙2 )−𝑚1 g𝑙

Substitute equation (9) into the equation with the control


input in equation (8), which will be
Fig.3 Force Analysis Diagram of the Small Car and
𝜙(𝑆)
Swing Rod =
𝑈(𝑆)

𝑚1 𝑙 2
𝑠
𝑤
𝑟 2) 𝑟 𝑚 g𝑙
𝑠4 +
𝑓(𝐼+𝑚 1 𝑙 (𝑚
𝑠3− 1
+𝑚 2 )𝑚1 g𝑙𝑠 2 − 𝑓 1 𝑠
𝑤 𝑤 𝑤
According to Figure 3, first analyze the force in the (10)
horizontal direction. wherein,w = [(𝑚1 + 𝑚2 )(𝐼 + 𝑚1 𝑙 2 ) − (𝑚1 𝑙)2 ]。
𝑚2 𝑥̈ = 𝐹 − 𝑟𝑓 𝑥̇ − 𝑁 (1) Using equation (7) for 𝑥̈ and𝜑̈ solve, which will be
𝑑2 𝑥̇ = 𝑥̈
N = 𝑚1 (𝑥 + 𝑙 sin 𝜃) = 𝑚1 𝑥̈ + 𝑚1 𝑙𝜃̈ cos 𝜃 −
𝑑𝑡 2
−(𝐼+𝑚1 𝑙2 )𝑟𝑓 𝑚1 2 g𝑙2 (𝐼+𝑚1 𝑙2 )
𝑚1 𝑙𝜃 2̇ sin 𝜃 (2) 𝑥̈ =
(𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2
𝑥̇ +
(𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2
𝜑+
(𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2
𝑢
Substituting equation (2) into equation (1) yields the
𝜑̇ = 𝜑̈
equation of motion in the horizontal direction
𝑚1 𝑙𝑟𝑓
(𝑚1 + 𝑚2 )𝑥̈ + 𝑟𝑓 𝑥̇ + 𝑚1 𝑙𝜃̈ cos 𝜃 − 𝑚1 𝑙𝜃 2̇ sin 𝜃 = 𝜑̈ = 𝑥̇ +
𝑚1 g𝑙(𝑚1 +𝑚2 )
𝜑+
𝑚1 𝑙
𝑢
{ (𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2 (𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2 (𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2
𝐹 (3)
In the vertical direction, as the car is used as the horizontal (11)
plane, only the force acting on the swing rod needs to be Compiled into a standard state space equation as
analyzed to obtain
0 1 0 0
𝑑2
𝑥̇ −(𝐼+𝑚1 𝑙2 )𝑟𝑓 𝑚1 2 g𝑙2 𝑥
P − 𝑚1 g = 𝑚1 2
(𝑙 cos 𝜃) = −𝑚1 𝑙𝜃̈ sin 𝜃 − 𝑥̈ 0 (𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2 (𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2
0 𝑥̇
𝑑𝑡
[ ]= [𝜑]+
𝜑̇ 0 0 0 1
𝑚1 𝑙𝜃̈ sin 𝜃 − 𝑚1 𝑙𝜃̇ 2 cos 𝜃 (4)
0] 𝜑̇
𝜑̈ 0 𝑚1 𝑙𝑟𝑓 𝑚1 g𝑙(𝑚1 +𝑚2 )

The torque balance equation is [ (𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2 (𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2
0
−P𝑙 sin 𝜃 − 𝑁𝑙 cos 𝜃 = I𝜃̈ (5) (𝐼+𝑚1 𝑙2 )
The second equation of motion can be obtained by using (𝑚1 +𝑚2 )𝐼+𝑚1 𝑚2 𝑙2
𝑢 (12)
0
equations (2) and (4) 𝑚1 𝑙
(I + 𝑚1 𝑙 2 )𝜑̈ − 𝑚1 g𝑙𝜑̇ = 𝑚1 𝑙𝑥̈ (6) [(𝑚1 +𝑚2 )𝐼+𝑚1𝑚2 𝑙2 ]

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Li et al. International Journal of Advanced Engineering Research and Science, 10(12)-2023

𝑥 and simulate it using Simulink in Matlab. We then adjust a


𝑥 1 0 0 0 𝑥̇
y=[ ]=[ ][ ] suitable set of PID parameters through parameter tuning
𝜃 0 0 1 0 𝜑
𝜑̇ principles. The input is the unit step signal, and the PID
If the pendulum is regarded as a rod with uniform mass, parameter is Kp= 70, KI = 0.7, KD = 6 the system reaches
then the inertia of the pendulum is
steady state at time T=0.08S.
1 2
I = 𝑚1 𝑙 (13) The fuzzy controller designed here is a two-input,
3
three-output fuzzy PID controller, and the two output
Substituting equation (13) into the first equation of
equation (7) yields signals jointly use a fuzzy rule. The input is the error e=
1
( 𝑚1 𝑙 2 + 𝑚1 𝑙 2 ) 𝜑̈ − 𝑚1 g𝑙𝜑̇ = 𝑚1 𝑙𝑥̈ (14) r(k)-y(k) and error change rate ec = e(k)-e(k-1) between
3
Simplify the above equation, which will be the given value and the actual value of the car
3g 3
𝜑̈ = 𝜑 + 𝑥̈ (15) displacement or swing rod angle, and the output is the
4𝑙 4𝑙
Let the system state space equation be corrected values ΔKp, ΔKI, andΔKD of the PID parameters.
̇ ′
{𝑋 = 𝐴𝑋 + 𝐵𝑢 (16) In this design, the basic domain of error e is taken as
𝑌 = 𝐶𝑋 + 𝐷𝑈
'
Let X = [𝑥̇ 𝑥̈ 𝜃̇ 𝜃̈], u = ẍ ,The following state [-5, 5], and the basic domain of error change rate ec is
space expression can be obtained taken as [-5, 5]. The domain of the output variablesΔKp,
0 1 0 0 𝑥 0 ΔKI, andΔKD are taken as [-3, 3].
𝑥̇
𝑥̈ 0 0 0 0 𝑥̇ 1 In order to obtain the input of the fuzzy controller, it
[ ]= 0 ′ (17)
𝜑̇ 0 0 1 [𝜑 ] + 0 𝑢 is necessary to fuzzify the precise quantity, that is,
3g 3
𝜑̈ [0 0 0
4𝑙] 𝜑̇ [ ] 4𝑙 multiply the input quantity by the corresponding
𝑥 quantization factor, and convert it from the basic domain
𝑥 1 0 0 0 𝑥̇ to the corresponding fuzzy domain. The quantization
Y=[ ]=[ ][ ]
𝜃 0 0 1 0 𝜑
𝜑̇ factor of error e isαe=0.8, and the factor of error change
rate ec is αec=0.2. The control quantity obtained through
III. CONTROLLER DESIGN AND FUZZY LOGIC the fuzzy control algorithm is a fuzzy quantity that needs
ESTABLISHMENT to be multiplied by a proportional factor and converted
Firstly, traditional PID is used to design PID into the basic domain. When the output variable is the
controllers for the output displacement and output angle of displacement of the car, the scaling factor ofΔKp,ΔKI,ΔKD
the system. Through parameter tuning and control, the areαΔKp =αΔKI =1,αΔKD =-5. When taking the output variable
spatial-state equation output reaches a stable state. When swing angle, the scaling factor of ΔKp,ΔKI,ΔKD
studying the displacement of a small car, the spatial state areαΔKp=200,αΔKI=1,αΔKD=30
control equation of the system is obtained by inputting the Divide the fuzzy domain of input variables(e, ec) and
car parameters into equation (17) as follows: output variables (ΔKp,ΔKI,ΔKD) into 7 fuzzy subsets,
0 1 0 0 0 namely NB, NM, NS, ZO, PS, PM, PB representing
0 0 0 0 1 𝑢′ negative big, negative medium, negative small, zero,
𝑋=[ ]𝑋 + [ ]
0 0 0 1 0
0 0 0 29.4 0.75 (18) positive small, positive medium, and positive big,
respectively. The membership functions of input variables
{ Y = [𝑥] = [1 0 0 0]𝑋 and output variables both adopt triangular membership
We first use the traditional PID control method to functions, as shown in Figure 4.
control the spatial-state equation of displacement output

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Fig.4 The Membership Function of e, ec,ΔKp,ΔKI,ΔKD

The fuzzy rule statement used by the output variable fuzzy controller is as follows:
“if E isαand EC isβthen U isγ” Wherein,α,β,γboth represent the fuzzy sets corresponding to each variable.
Based on the impact of PID parameters on system performance, parameter tuning principles, expert experience, and
cognition, 49 control rules were obtained after processing, as shown in Tables 1–3.
Table 1 Fuzzy Rule Table ofΔKp

𝐾𝑃 E
NB NM NS O PS PM PB
EC
NB PB PB PB PB PM PS O

NM PB PB PB PB PM O O

NS PM PM PM PM O PS PS

O PM PM PS O NS NS NM

PS PS PS O NS NM NM NM

PM PS O NS NM NM NM NB

PB O O NM NM NM NB NB

Table 2 Fuzzy Rule Table ofΔKI

𝐾𝐼 E
NB NM NS O PS PM PB
EC

NB NB NB NM NM NS O O

NM NB NB NM NS NS O O

NS NB NM NS NS O PS PS

O NM NM NS O PS PM PM

PS NM NS O PS PS PM PB

PM O O PS NM PM PB PB

PB O O PS PM PM PB PB

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Li et al. International Journal of Advanced Engineering Research and Science, 10(12)-2023

Table 3 Fuzzy Rule Table ofΔKD


E
𝐾𝐷
NB NM NS O PS PM PB
EC

NB PS NS NB NB NB NM PS

NM PS NS NB NM NM NS O

NS O NS NM NM NM NS O

O O NS NS NS NS NS O

PS O O O O O O O

PM PB PS PS PS PS PS PB

PB PB PM PM PM PS PS PB

This design system uses the Mamdani inference parameters of the PID controller.
method to perform fuzzy inference on the established 𝐾𝑃 = 𝐾𝑃0 + △ 𝐾𝑃 (19)
fuzzy rules in order to obtain control variables. Meanwhile, 𝐾𝐼 = 𝐾𝐼0 + △ 𝐾𝐼 (20)
using the center of gravity method to solve the fuzziness of 𝐾𝐷 = 𝐾𝐷0 + △ 𝐾𝐷 (21)
language expression, thus obtaining the exact value
ofΔKp,ΔKI,ΔKD. In addition, the values obtained through Before establishing a fuzzy logic controller, the Tool
fuzzy reasoning and deblurring are multiplied by the Box parameters of the fuzzy logic system need to be set in
corresponding scaling factors to obtain the incremental Simulink (Figure 5). Then use the membership function
adjustment values of PID parameters, which are then parameter setting process of Tool Box (Figure 6) to
substituted into equations (19) - (21) to obtain the control establish the membership function of e, ec,ΔKp,ΔKI,ΔKD.

Fig.5 Fuzzy Logic System Tool Box

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Fig.6 Membership Function of Fuzzy Logic System

After setting the above parameters, they can be traditional PID controllers have good control effects on the
added to the rule editor, and all output surfaces of the control object that can assume an accurate mathematical
fuzzy inference system can be observed in the output model. They can meet the requirements of system control
surface observer. accuracy and rise time, but there are problems such as long
adjustment times. The fuzzy PID controller can adjust the
IV. COMPARISON BETWEEN TRADITIONAL PID parameters of the system in real time. By doing so, the
PID CONTROL AND FUZZY PID CONTROL PID parameters can be more suitable for the control
Through Simulink simulation (Figure 7 and Figure requirements of the system, resulting in better control
8), it was found that, under appropriate parameters, effects than traditional PID controllers (Figure 9).

Fig.7 Simulink Simulations of Traditional PID and Fuzzy PID Control Systems (Swing Angle)

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Li et al. International Journal of Advanced Engineering Research and Science, 10(12)-2023

Fig.8 Simulink Simulation of a Fuzzy PID Controller for Swing Angle

Fig.9 Response Curves of Traditional PID and Fuzzy PID Controller Systems (Swing Angle)

V. CONCLUSIONS [2] Wang, S., Zhang, F., and Chen, Z. Design of LQR controller
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