Intelligent predictive fuzzy control for pneumatic inverted pendulum

The paper detailed the modeling and control of pneumatic inverted pendulum system. According to the mechanism of pendulum system and pneumatic proportional system, an appropriate nonlinear process model was derived. The nonlinear effects of friction were modeled based on the results of appropriate identification experiments. Based on the nonlinear pneumatic inverted pendulum dynamic model, predictive fuzzy control (PFC) was proposed to implement the swing-up motion and stabilization control. The experiment of swing-up motion and stabilization control has been done to verify the effectiveness of proposed controller on the experimental setup of a pneumatic inverted pendulum.