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KMID : 0896219980180010225
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Journal of Daegu Health College
1998 Volume.18 No. 1 p.225 ~ p.240
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Design Controller for Position and Vibration of Inverted Pendulum System using Fuzzy Learning
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Lim Yoon-Kyu
Woo Sung-Moon
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Abstract
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This paper is the fuzzy learning control for an unstable and multivariable system used in many cases. Generally, it is very difficult to design the fuzzy controller for an unstable and multivariable system. The reason is that inputs and outputs are coupled and the system is more complex as the number of variables in it increase. To solve these problems we extend Chung’s method to the multivariable system and apply it, this method can design fuzzy controller more easily and adapt more actively in work condition changed and obtain the best fuzzy rules. And we apply it to the inverted pendulum. The method which extended Chung’s method needs conditions for the system which make stability system in initial time in an unstable system and prove the jacobian matrix of the system the monotonic function. So we make stabilization the system in initial time using 4-dimension fuzzy rules, and we prove the jacobian matrix of the system the monotonic function as experiment. Finally, we operate learning-variables in the fuzzy learning and obtain the optimal controller for inverted pendulum.
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