Real-time Control of a Rotary Inverted Pendulum using Fuzzy Logic

The major objective of this work is to investigate the fuzzy logic use in the control of a rotary inverted pendulum in order to create a controller that can keep the pendulum in an upright position. Initially, we looked at the model of our underactuated system. . Subsequently, we applied our methodology to the "Quanser qube servo 2" pendulum system, a frequently used rotary inverted pendulum system in research settings. After that, we ran simulations and experiments to evaluate the performance of our controller. The results show that using fuzzy logic to regulation offers improved stability and accuracy, even when dealing with significant disturbances.