Practical approach to fuzzy control of inverter pendulum [for inverter read inverted]

A fuzzy PD controller, which can be design without a high amount of effort, is presented. The method using shrinking factors for membership functions is used. For the optimal select of controller parameters the evolutionary algorithm is used. The control of an inverted pendulum using the proposed control method is illustrated. The basic aim of this paper is to balance the pendulum in an upper position. For this purpose a fuzzy logic controller is used. The robustness of the control system against change of pendulum length is investigated.