An Effective Hybrid Swing-Up and Stabilization Controller for the Inverted Pendulum-Cart System

Abstract

A new hybrid swing-up and stabilization controller (HSSC) for the inverted pendulum-cart system (IPCS) is proposed. The HSSC includes a fuzzy switching controller, a simple swing-up controller, and a fuzzy stabilization controller. The proposed HSSC can autonomously adapt its parameters according to the changes in the specification parameters of the IPCS without any need for an external adaptation mechanism. The comparison results illustrate the effectiveness of the proposed controller by improving the performance of the well-known SIRM FC [4] almost by 150%.