Application of Fuzzy Control Algorithm in First-order Inverted Pendulum System

The inverted pendulum system is widely used in the study of control theory. There are many advantages of the inverted pendulum: the equipment is cheap, and it features a simple structure and easy regulation. But since the inverted pendulum system is also a typical nonlinear, multivariable system, it’s a really difficult thing to keep it stable. Because of this, it’s important to figure out a way to stabilize the system. More importantly, new control methods will be discovered during the process, and these new methods can be used in many other different systems. The inverted pendulum system can reflect performances such as robustness, mobility and tracking performance. Its dynamic condition is similar to a human walk, and its steady state is similar to the launch system on a rocket’s motion attitude, so the study of the inverted pendulum system is also important to the robot and rocket area. This paper describes the construction of a mathematical model of a first-order inverted pendulum, and the process of designing the fuzzy controller based on the related fuzzy control rules. It also conducts the optimization of the fuzzy controller using a genetic algorithm. After using MATLAB’s Simulink module to simulate the inverted pendulum system and adjust the parameters of the controller, the system could finally reach a stable status within a short period of time, from all kinds of original status, and have anti-jamming performance.