Design and implementation of a fuzzy controller for swing-up control of an inverted pendulum

This paper proposed a Mamdani type of fuzzy controller for swinging up an inverted pendulum. Taking the length restriction of the experimental equipment into account, the fuzzy controller consists of three two-dimensional fuzzy controllers, which deal with situations when the cart moves to the left, central and right part of the guide rail respectively. The rules of the three controllers are distinct from each other, which are extracted from the experiments. Both numerical simulations and real world experiments demonstrate the effectiveness of the proposed fuzzy rules as well as the corresponding fuzzy controllers, which highlights the feature that Mamiani fuzzy controller can easily realize human experiences and the usefulness of Mamdani type of fuzzy controller.