A Fuzzy Model Based Controller for the Control of Inverted Pendulum

In this paper, we propose a stable fuzzy logic controller architecture for inverted pendulum,. In the design procedure, we represent the fuzzy system as a Takagi-Sugeno fuzzy model and construct a global fuzzy logic controller by considering each local state feedback controller and a supervisory controller, Unlike usual parallel distributed controller, one can design a global stable fuzzy controller without finding a common Lyapunov function by the proposed method. A simulation is performed to control the inverted pendulum to show the effectiveness and feasibility of the proposed fuzzy controller.