Model-based design of a fuzzy logic controller for an inverse pendulum

The main idea of this work is to design and realize a fuzzy controller to stabilize an inverse pendulum pneumatically actuated. This system is widely used and studied in academic and industrial applications. The fuzzy logic introduces a new design method in this classical system. The system needs a double control, the position of the cart and the angle of the pendulum. This problem has been resolved by using two nested feedback control loop. All the design has been done using the model-based approach. The challenge of this work is to use a very low-cost controller, an Arduino board, to stabilize an inverted pendulum mechanically connected to a pneumatic actuator, so also the system is a low-cost application. The movement of the pneumatic actuator is controlled by four 2/2 digital pneumatic valves that are controlled by the Arduino board using the PWM technique.The Arduino board is programmed using the fuzzy logic and the control action is able to stabilize the cart in a given position. After an introduction to the fuzzy logic (Chapter 2) and the description of the test bench (Chapter 3) I will provide a first design of a linear fuzzy controller starting from a PID controller already designed (Chapter 4). Then I will make the nonlinear model (Chapter 5) to design the nonlinear fuzzy controller (Chapter 6). In the chapter 7 I will provide the explanation of the program for the Arduino board. The experimental tests will not do due to time constraints, for this reason the program for the Arduino board is only a sketch and it should be tested and validated (I ensure that there are not compiler errors). So the purpose of this work is to give a new method (the fuzzy controller) to stabilize an inverse pendulum and its cart with low cost application following the model-based approach.