An Investigation On Fuzzy Logic Controllers (TAKAGI-SUGENO & MAMDANI) In Inverse Pendulum System

TL;DR

This paper compares Takagi-Sugeno and Mamdani fuzzy controllers applied to the nonlinear inverse pendulum system to evaluate their effectiveness in maintaining stability and identify the most suitable control approach.

Contribution

It provides a comparative analysis of two fuzzy control methods for the inverse pendulum, highlighting their performance differences in a nonlinear, unsteady system.

Findings

Takagi-Sugeno controller showed faster response times.

Mamdani controller demonstrated more robustness to disturbances.

Both controllers successfully maintained the pendulum in the vertical position.

Abstract

The concept of controlling non-linear systems is one the significant fields in scientific researches for the purpose of which intelligent approaches can provide desirable applicability. Fuzzy systems are systems with ambiguous definition and fuzzy control is an especial type of non-linear control. Inverse pendulum system is one the most widely popular non-linear systems which is known for its specific characteristics such as being intrinsically non-linear and unsteady. Therefore, a controller is required for maintaining stability of the system Present study tries to compare the obtained results from designing fuzzy intelligent controllers in similar conditions and also identify the appropriate controller for holding the inverse pendulum in vertical position on the cart.