Model-Based Fuzzy Control of an Auto Swing-up Furuta Inverted Pendulum: A Mechatronic Approach

In this paper, a report on the IUST Furuta Inverted Pendulum, designed and built at the Mechanical Engineering Department of the Iran University of Science and Technology (IUST), is provided. This work is carried out by a group of students, as part of the Mechatronics graduate course. A new fuzzy controller based on the idea of energy control is proposed, to swing up the inverted pendulum to the upright position. Furthermore, a model-based parallel distributed compensation (PDC) scheme is employed to stabilize the pendulum at its unstable equilibrium point, while the position of the arm is also controlled. Experimental results show the outstanding stability, performance and robustness of the controlled system.

Keywords:

Furuta Inverted Pendulum , Fuzzy Control , LMI , PDC , Swing up