OPTIMIZATION OF PID CONTROLLER FOR INVERTED PENDULUM SYSTEM USING FUZZY LOGIC CONTROLLER

This project is mainly about the optimization of PID controller for inverted pendulum
system using fuzzy logic controller (FLC). The first part includes the background of
study, the problem statement, the scope and the objective of the project. This part will
briefly discuss the limitation of the current system. Basically, when perturbation is
applied to the pendulum, the system will take some time to be stable. Thus, the main
objective of this project is to find the optimum stable point of the system in order to
reduce the oscillations of the pendulum and to minimize the time taken to stabilize the
system. The literature review and theory part will discuss the journals and books
regarding the inverted pendulum as well as their supported theories. The next part of
this report is the methodology part. This part will briefly explain the work flow of the
project in order to achieve the aim of this project. The steps taken are literature
review and research, experimental stage, the design stage, and finally the analysis and
comparison between the controllers. This project will deal with the inverted
pendulum itself and softwares such as MATLAB and fuzzyTECH. Thus, full
understandings of those softwares are needed for this project. The discussion part will
discuss the findings and the understanding of the inverted pendulum, PID controller
and FLC. Finally, chapter five gives the conclusion and some recommendations for
future work regarding the project. In conclusion, the simulation part of this project
has been successfully completed although the testing on the physical system still in
progress.