Modified center average defuzzifier for improving the inverted pendulum dynamics

Presents an empirical modification of the center average defuzzifier (CAD) which has been used to improve the inverted pendulum dynamics. The CAD is modeled as a two-stage process: a linear combination followed by a normalization. The second stage consists of a division operation in the traditional defuzzifier. In the proposed scheme, the division is replaced by other nonlinear functions. Some comparative experimental results between the traditional CAD and the proposed defuzzifier are presented. They show that the included modification can increase the balancing range of the inverted pendulum and makes it respond faster for small angles