Design of a hybrid fuzzy-PD controller for inverted pendulum

In our paper, the analytical structures of the one-input-one-output and two-input-one-output fuzzy controllers are first investigated. An efficient parameter estimation scheme to design fuzzy controllers is also introduced, which overcomes the drawback of conventional trial and error-based approaches. Using this method, we propose a new hybrid fuzzy-PD controller for the inverted pendulum. Both computer simulations and real-time experiments demonstrate that our hybrid controller can satisfactorily control the cart position as well as balance the pole.