A cascade architecture of adaptive fuzzy controllers for inverted pendulums

This paper presents a cascade architecture design for the control of an inverted pendulum. A novel self-tuning adaptive resolution (STAR) fuzzy control approach is implemented in this control design. The controller consists of two sub-controllers: one of which is used to control the small cart´s position and the other is used to balance the pole. Because of the unique architecture, the controller shows very good stability and robustness even under disturbances and uneven load conditions. The STAR fuzzy control provides excellent performances in controlling the cart´s position and balancing the pole. In order to compare the performance of the STAR approach, a conventional fuzzy control method has also been implemented to control the same inverted pendulum