Erciyes Üniversitesi Fen Bilimleri Enstitüsü Dergisi, vol.38, no.3, pp.483-499, 2022 (Peer-Reviewed Journal)
The present study aims to balance an inverted pendulum (IP) system on cart using fuzzy controllers with different membership functions (MFs) based on proportional-derivative control. To this end, the cart was designed to track an intended trajectory in a horizontal (linear) position, while the IP was balanced in a vertical (angular) position. The designed controller system was simulated in Matlab/Simulink, and performance rates were measured for the IP’s vertical position and the cart’s horizontal position. The obtained simulation results demonstrated that triangular fuzzy membership function (MF) improved rise time, settling time and overshoot for the IP’s vertical position by 8%, 4.35% and 7.7%, respectively, compared to gaussian fuzzy MF. Similarly, for the cart’s horizontal position, triangular fuzzy MF improved rise time, settling time and overshoot by 3.8%, 3 and 30%, respectively, compared to gaussian fuzzy MF. When all performance rates are analyzed in terms of the IP’s vertical position and the cart’s horizontal position, it was found that triangular fuzzy MF displayed a more satisfactory performance compared to Gaussian fuzzy MF.