Inverted pendulum controlled through fuzzy logic

摘要

This paper aims at presenting how the RT 124 assembly developed by GUNT can be used in order to implement a fuzzy controller for a physical system consisting of an inverted pendulum mounted on a trolley. The model is a non-linear, one-dimensional, unstable MISO system with high demands consisting of real-time control, being intended for control using fuzzy logic. The paper goal is to create a fuzzy control system for maintaining the reverse pendulum in upright position with real-time control of the vehicle's position.