Fuzzy Control of a Gyroscopic Inverted Pendulum

In this paper we present the efficient control imparted to an inverted gyroscopic pendulum (GIP) and demonstrate how the control mechanism through a flywheel mounted at the top of the GIP governed by a fuzzy logic controller (FLC) achieves good stability and control performance of the system around vertical position. The intuitive knowledge of controlling the GIP via a wheel momentum is fuzzified in an FLC with a base of 49 rules. FLC design is conducted using simulation before testing on real GIP plant. Compared to a proportional-integral-derivative (PID) controller it is concluded that the FLC is more suitable for stabilizing the GIP system which has a weak restoring torque.