The Modeling and Performance Comparison of PD and Takagi Sugeno Type Fuzzy Logic Controllers for Inverted Pendulum System

Şit S., Kılıç E., Özçalık H. R. , Alhasan H. A. , Gani A.

Bitlis Eren University Journal of Science and Technology, vol.6, no.2, pp.76-84, 2016 (Peer-Reviewed Journal)


In recent years, fuzzy logic based modeling and control methods have been increasingly used in the academic field. Inverted pendulum system consists of conventional materials with nonlinear dynamic structure in order to test types of controllers. This paper presents a simulation study of Takagi-Sugeno type fuzzy logic controllers for an inverted pendulum (cart-pole) system. A Takagi-Sugeno method was applied to the inverted-pendulum system, which can balance the pendulum over a greater range of pole angle and cart position. Takagi-Sugeno fuzzy logic controller proposed in this study is compared with the conventional PD controller in order to demonstrate the performance of the proposed controller. This study aims to determine the best control strategy that provides better performance in terms of pendulum's angle and cart's position. A Takagi-Sugeno type fuzzy logic controller yields better results. Simulation results demonstrated that the proposed fuzzy controller is effectiveness and robust.