Design and control of an inverted pendulum system for intelligent mechatronics system control education

This paper presents a mechatronics system for intelligent control education. The inverted pendulum system is designed and built to fit an educational kit as an intelligent mechatronics system. The neuro-fuzzy control method whose structure is the Tagaki-Sugeno model is introduced to control the pendulum. The Takagi-Sugeno(T-S) neuro-fuzzy control structure is implemented on the DSP board built in our Lab. Parameters of the neuro-fuzzy controller are updated based on the back-propagation algorithm derived in this paper. Performances of the neuro-fuzzy controller are evaluated by experimental studies of testing desired position tracking control of the cart while balancing.