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Automation Engineering Fuzzy Control Inverted Pendulum

Automation Engineering Fuzzy Control Inverted Pendulum

Code: AET0009

Automation Engineering Fuzzy Control Inverted Pendulum.

Learning Objectives / Experiments

- design of a fuzzy control for the unstable single-

  variable system: inverted pendulum (fundamentals 
  from are required)
- working with the development software FSH-Shell

- activating of two independent actuators that are
  coupled via the system
- mastering of non-linearities in the system:
  inverted pendulum
- mastering of non-linearities in the propeller drive
- optimisation of 
  * fuzzification
  * rule base
  * defuzzification with respect to stability
  * velocity
  * control quality

[1] design and optimise fuzzy control systems using microcontroller technology

[2] inverted pendulum as mechanical single-variable system, SIMO (Single Input - Multiple Outputs)

[3] 2 independent motors for propeller drive as actuators

[4] microcontroller with USB port as fuzzy controller

[5] FSH-Shell development software for designing and optimising the fuzzy controller

[6] rotary potentiometer as pendulum inclination sensor

[7] part of the structured learning concept: level 2a

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