Fuzzy logic control vs. conventional PID control of an inverted pendulum robot

Abstract

This paper addresses some of the potential benefits of using fuzzy logic controllers to control an inverted pendulum system. The stages of the development of a fuzzy logic controller using a four input Takagi-Sugeno fuzzy model were presented. The main idea of this paper is to implement and optimize fuzzy logic control algorithms in order to balance the inverted pendulum and at the same time reducing the computational time of the controller. In this work, the inverted pendulum system was modeled and constructed using Simulink and the performance of the proposed fuzzy logic controller is compared to the more commonly used PID controller through simulations using Matlab. Simulation results show that the fuzzy logic controllers are far more superior compared to PID controllers in terms of overshoot, settling time and response to parameter changes.