Dynamic Performance Analysis of Self Tuning Fuzzy PID Controller for the Inverted Pendulum System

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Gani A., Keçecioğlu Ö. F., Baş Z., Açıkgöz H., Şekkeli M.

The 4th International Fuzzy Systems Symposium, İstanbul, Türkiye, 5 - 06 Kasım 2015, ss.32-35

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.32-35
  • Kayseri Üniversitesi Adresli: Hayır

Özet

Creating a very real system sub-model of the inverted pendulum system, nonlinear dynamic model and unstable equilibrium points is one of the major reasons for preferring research purposes. The coefficients of the conventional PID controller are not often properly tuned for the nonlinear plant with unpredictable parameter variations. Hence, it is necessary to automatically tune the PID parameters. In this paper, self-tuning Fuzzy-PID controller is developed to improve the performance of the inverted pendulum.