A cascade architecture of fuzzy controllers for nonlinear inverted pendulum

In this paper, a cascade architecture of fuzzy controllers for nonlinear inverted pendulum pulley system is proposed to solve both angle and position regulation problem. In this architecture, the pendulum angle and the pulley position can be decoupled from the control force, and the angle and position controllers connected in series are designed independently. The fuzzy rule number and variable classification for the cascade fuzzy controller are substantial reduction. Simulation results show that even if the initial condition is far from the equilibrium point, the angle and position can be converged to their target points simultaneously and show the efficiency of the proposed architecture.