Upswing and stabilization control of inverted pendulum and cart system by the SIRMs dynamically connected fuzzy inference model

A fuzzy controller is constructed based on the SIRMs (single input rule modules) dynamically connected fuzzy inference model for the upswing and stabilization control of inverted pendulum and cart systems. When the pendulum locates at the pending domain, the fuzzy controller becomes automatically an upswing controller by using the saturation feature of the membership functions of the pendulum angle. When the pendulum locates at the upright domain, the fuzzy controller then becomes a stabilization controller which realizes smoothly the pendulum angular control and the cart position control in parallel. Simulation results show that the presented fuzzy controller can swing up the pendulum from the pending position to the upright position and then stabilize the whole system in 2.0 seconds.