Design and implementation of Sugeno controller for inverted pendulum on a cart system

Nowadays simple and executable controllers that can control many complex processes are more popular, remarkable and justifiable. Studying and designing such controllers for inverted pendulum system is a prominent way to prove the controllers performance. Inverted pendulum system is a classic system in most control laboratories. The system structure, totally, consists of a cart and a pendulum hinged to the moving cart via a pivot. The basic problem in an inverted pendulum system is stabilizing pendulum angle. The system equations are non-linear and non-minimum phase and thereby, the relation between the force to the cart and the angle of pendulum is not easily calculable. Also, the stabilization of cart position should be checked. In many cases the system with controller is not executable. In this paper, a simple implementable controller will be proposed for inverted pendulum on a cart system to stabilize both pendulum angle and cart position. Firstly, the force to the cart is obtained by using feedback linearization method and system dynamic. Then, it will be converted to a fuzzy controller based on Taylor series. In comparison with other controllers, it is more fluent and executable. Simulation and experimental results evaluate the controller performance.