Fuzzy Controller Applied to the Balance of a Simple Inverted Pendulum

Abstract

The concept of Fuzzy Logic was created by Loftali Askar-Zadeh in 1965 and is considered one of the main artificial intelligence techniques of the last 50 years. In this contribution, an analytical approach was initially developed of an inverted pendulum in a cart that was numerically simulated in Python language. Then, a fuzzy controller was also developed in Python to keep the inverted pendulum in the vertical position according to the mechanical properties of the system and initial conditions. The controller considers the angle and angular velocity of the pendulum in the adjustment process for the response of the horizontal force applied to the cart. In conclusion, observing the results presented, the fuzzy controller was able to react to the system in a satisfactory way, obtaining an equilibrium position in different configurations of pendulum length.