Fuzzy logic controller design for inverted pendulum system
Inverted pendulum system is unstable without control, that is, the pendulum wills simply fall over if the cart isn’t moved to balance it and naturally falls downward because of gravity. Thus, the inverted pendulum system is inherently unstable. In order to keep it upright, or stabilize this syste...
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my-uthm-ep.67312022-03-15T02:39:44Z Fuzzy logic controller design for inverted pendulum system 2013-06 Ismail, Nurfakhirah TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) Inverted pendulum system is unstable without control, that is, the pendulum wills simply fall over if the cart isn’t moved to balance it and naturally falls downward because of gravity. Thus, the inverted pendulum system is inherently unstable. In order to keep it upright, or stabilize this system, one needs to manipulate it, either vertically or horizontally and it requires a continuous correction mechanism to stay upright since the system is unstable, non-linear and non-minimum phase behavior. To overcome this problem, the fuzzy logic controller will be designed. The Fuzzy Logic Controller has been chosen to stabilize the pendulum rod and keeping the cart in a desired position. Fuzzy logic has provided a simple way without going through the mathematical approach as conventional controller in order to arrive at a definite conclusion based upon nonlinear and an unstable of inverted pendulum system. Besides that, Fuzzy logic control system (FLC) was chosen as the control technique because of its ability to deal with nonlinear systems, as well as its intuitive nature. One special feature of fuzzy logic control is that it utilizes the expertise of humans to control the physical system, so that complex system can be controlled without extensive modeling of the relationship between the input and output of the system. 2013-06 Thesis http://eprints.uthm.edu.my/6731/ http://eprints.uthm.edu.my/6731/1/24p%20NURFAKHIRAH%20ISMAIL.pdf text en public http://eprints.uthm.edu.my/6731/2/NURFAKHIRAH%20ISMAIL%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6731/3/NURFAKHIRAH%20ISMAIL%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik |
| institution |
Universiti Tun Hussein Onn Malaysia |
| collection |
UTHM Institutional Repository |
| language |
English English English |
| topic |
TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery |
| spellingShingle |
TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Ismail, Nurfakhirah Fuzzy logic controller design for inverted pendulum system |
| description |
Inverted pendulum system is unstable without control, that is, the pendulum wills
simply fall over if the cart isn’t moved to balance it and naturally falls downward
because of gravity. Thus, the inverted pendulum system is inherently unstable. In
order to keep it upright, or stabilize this system, one needs to manipulate it, either
vertically or horizontally and it requires a continuous correction mechanism to stay
upright since the system is unstable, non-linear and non-minimum phase behavior.
To overcome this problem, the fuzzy logic controller will be designed. The Fuzzy
Logic Controller has been chosen to stabilize the pendulum rod and keeping the cart
in a desired position. Fuzzy logic has provided a simple way without going through
the mathematical approach as conventional controller in order to arrive at a definite
conclusion based upon nonlinear and an unstable of inverted pendulum system.
Besides that, Fuzzy logic control system (FLC) was chosen as the control technique
because of its ability to deal with nonlinear systems, as well as its intuitive nature.
One special feature of fuzzy logic control is that it utilizes the expertise of humans to
control the physical system, so that complex system can be controlled without
extensive modeling of the relationship between the input and output of the system. |
| format |
Thesis |
| qualification_name |
Master of Philosophy (M.Phil.) |
| qualification_level |
Master's degree |
| author |
Ismail, Nurfakhirah |
| author_facet |
Ismail, Nurfakhirah |
| author_sort |
Ismail, Nurfakhirah |
| title |
Fuzzy logic controller design for inverted pendulum system |
| title_short |
Fuzzy logic controller design for inverted pendulum system |
| title_full |
Fuzzy logic controller design for inverted pendulum system |
| title_fullStr |
Fuzzy logic controller design for inverted pendulum system |
| title_full_unstemmed |
Fuzzy logic controller design for inverted pendulum system |
| title_sort |
fuzzy logic controller design for inverted pendulum system |
| granting_institution |
Universiti Tun Hussein Malaysia |
| granting_department |
Fakulti Kejuruteraan Elektrik dan Elektronik |
| publishDate |
2013 |
| url |
http://eprints.uthm.edu.my/6731/1/24p%20NURFAKHIRAH%20ISMAIL.pdf http://eprints.uthm.edu.my/6731/2/NURFAKHIRAH%20ISMAIL%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6731/3/NURFAKHIRAH%20ISMAIL%20WATERMARK.pdf |
| _version_ |
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