Stabilization and Control of Inverted Pendulum Cart System using Fuzzy Logic Controller

The inverted pendulum cart system (IPCS) be similar to number of real-world systems such as transport vehicles, spacecraft and medical fields equipment’s robots and many more, however it is a traditional problem for the control engineers as it is highly non-linear with more than one equilibrium points. Therefore, the paper investigates a fuzzy logic controller to control cart position while maintaining the balance of an inverted pendulum. Furthermore, the length of inverted pendulum is varied and the performance is evaluated under both controllers’ application simultaneously. The performances of both controllers are compared with number of error indices such as Root mean square error (RMSE), Integral square error (ISE), Integral time square error (ITSE), Integral absolute error (IAE) and Integral time absolute error (ITAE). The fuzzy controlled system shows better results as compared with the classical control approach with PID controller in terms of settling time, rise time, overshoot and undershoot under MATLAB/Simulink environment.