A study on Fuzzy-PID Control of a Straight Line Type Inverted Pendulum

직선형 도립 진자의 퍼지-PID 제어에 관한 연구

This paper proposes a fuzzy tuning PID controller for straight line type inverted pendulum. The conventional PID controller which is used widely in industrial field has fatal drawback on determining control gains for practical system. The proposed controller tunes the gains automatically based on fuzzy urle derived from the experience of expert operator. The results of simulation and experiment show the efficiency of the proposed control method comparing with conventional PID control method in terms of rising time, overshoot, and overall errors.