Controller design for the inverted pendulum system based on the fuzzy logic and conventional methods

In this paper, a fuzzy-PID controller is designed for the stabilizing of the inverted pendulum system as a nonlinear benchmark. The considered objective functions are the distance error of the cart, the angle error of the pendulum and the control effort which must be minimized simultaneously. Four points are chosen from nondominated solutions of the obtained Pareto fronts based on the three conflicting objective functions and used for illustration of the state variables of the controlled system. Obtained results elucidate the efficiency of the proposed controller in order to control the nonlinear system

Keywords:

Fuzzy-PID controller , inverted pendulum system