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DESIGN AND SIMLATION OF ROBUST FUZZY LOGIC CONTROLLER FOR PLANTS WITH HIGH NONLINEARITY | ||
| AL-TAQANI | ||
| Article 1, Volume 24, Issue 2, 2011, Pages 163-177 | ||
| Author | ||
| Raaed F. Hassan | ||
| Abstract | ||
| The Inverted pendulum (IP) is a very popular plant for testing dynamics and control of highly non – linear plants. In the inverted pendulum control problem, the aim is to move the cart to the desired position and to balance a pendulum without the pendulum falling. The goal of this paper is to design a robust Fuzzy Logic Controller (FLC) which is capable of driving the cart of the Inverted Pendulum to the desired position and balancing the ball around zero angles with respect to the vertical plane. To accomplish this task several steps are passed through. First, a state - space model of the Inverted Pendulum has been analyzed and then builds using Simulink Software Package. Next, design of the FLC is performed using Fuzzy Inference System (FIS) within Matlab software package. Robustness of the designed control system has been tested for the response to different types of command signals and disturbance rejection points of view. Simulation results show that the suggested FLC is robust against different environments conditions. | ||
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