Abstract
A new fuzzy control method for an inverted pole installed on a cart is proposed. The controller can upswing the pole from the dangling state and then stabilize the inverted pole, including control of cart position. Two kinds of 2 dimensional formalized fuzzy rule tables are used in this control. One consists of 49 articles of fuzzy rule which are used for control of both the pole upswing from the dangling state and the stabilization of inverted pole. The other is a fuzzy rule table for indirectly positioning the cart location by controlling the slant angle of inverted pole after stabilization. 7 kinds of fuzzy sets are used for constructing the rules and a triangle type membership function is used for reasoning. A new high-speed reasoning method is proposed. By contriving several ideas to make these rules work effectively, a reliable control method is established. The control of nondimensionalized system is studied in order to prove the propriety of this fuzzy control for the entire cart/pole system, and several new observations are introduced concerning design of and tuning of the control system and the upswing limit of the pole.
