Volume 16, Issue 3 (Journal of Control, V.16, N.3 Fall 2022)
JoC 2022, 16(3): 59-69 |
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Nazeran S, Farrokhi M. 2-DoF Self-tuning Fuzzy PID Controller for Under-actuated Inverted Pendulum System with Uncertainties in Model. JoC 2022; 16 (3) :59-69
URL: http://joc.kntu.ac.ir/article-1-848-en.html
URL: http://joc.kntu.ac.ir/article-1-848-en.html
1- Iran University of Science and Technology
Abstract: (1476 Views)
In this manuscript, the laboratory inverted pendulum mounted on a cart has been controlled using 2-DOF self-tuning fuzzy PID controller. The robustness of the proposed method is investigated against the uncertainties in the system’s parameters and external disturbances. Moreover, the proposed method is tested against measurement noises. Stability of the proposed method is investigated using Bode diagrams in frequency domain. Performance of the 2Dof-fuzzy-PID controller is compared with the 2-DoF PID controller. The practical results indicates better performance of the proposed method.
Keywords: 2 DOF PID controller, laboratory inverted pendulum, parametric uncertainty, external disturbance, fuzzy system
Type of Article: Research paper |
Subject:
Special
Received: 2021/03/27 | Accepted: 2022/07/22 | ePublished ahead of print: 2022/12/30 | Published: 2022/12/1
Received: 2021/03/27 | Accepted: 2022/07/22 | ePublished ahead of print: 2022/12/30 | Published: 2022/12/1
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