An optimal fuzzy controller stabilizing the rod and controlling the position of single wheeled inverted pendulums

Stabilizing the angle while controlling the wheel position in single wheel inverted pendulum systems has always been a challenge for control engineers. The current paper presents a novel hierarchically optimized fuzzy controller to overcome this confrontation. The overall strategy of choosing between conflicting linguistic rules and determination of the knowledge-based of the system is discussed and explained in detail. A fuzzy controller is then designed which is optimized in two steps: At the first, genetic algorithm is used in the integer programming mode to partially optimize the knowledge-based of the system; In the second stage, the designed controller is optimized for performance enhancement. Simulation results ensure the stability and performance of the proposed optimal fuzzy controller.