Performance Evaluation of various Control Techniques for Inverted Pendulum

The application of different types of FLC and conventional PID controllers to the Inverted pendulum problem is presented in this paper. The fuzzy logic controllers have been used to control many nonlinear systems. They are designed in various forms in the MatlabSimulink environment with Mamdani type fuzzy inference system. The Inverted Pendulum system (also called “cart-pole system”) is a challenging,nonlinear and unstable control system. By controlling the force applied to the cart in the horizontal direction, the inverted pendulum can be kept in various unstable equilibrium positions. Fuzzy control in association with PID control is found better amongst the fuzzy PD and fuzzy PD+I control.

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