Analysis of controllers by state feedback, optimal control and diffuse logic, for a pendulum of Furuta

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Published: 2013-06-30
DOI: https://doi.org/10.17163/ings.n9.2013.02
Keywords:
Furuta pendulum, state space, optimal control, fuzzy logic, single input single output (SISO), multiple input multiple output (MIMO), inference method.

Main Article Content

Juan Ortiz
Manuel Reinoso

Abstract

This paper presents the development and control of a rotational inverted pendulum (Furuta pendulum) by controllers in the state space, optimal control and fuzzy logic. Such systems are aircraft, spacecraft, underwater vehicles, ships, satellites and robots, built by rods and articulated joints, passive and active. These systems generally are defying gravity to stay in balance so plants such systems are nonlinear and will need to be monitored by nonlinear control laws however due to the appearance of fuzzy logic, this control has great advantage is that it is not necessary to know exactly the characteristics of the plant and control systems can be adapted to Simple Simple Input Output (SISO) or Multiple Input Multiple Output (MIMO), the key lies especially fuzzy control in the knowledge that you need to ask the expert ranges inference functions and features such well raise the inference method of inference engine, so for this type of control should be done several tests to get the goals set in the control system.

Article Details

Issue
No. 9 (2013): January / June
Section
Scientific Paper

 

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Author Biographies

Juan Ortiz

Ingeniero electrónico, egresado de la Maestría en Control y Automatización Industrial, Universidad Politécnica Salesiana, sede Cuenca.

Manuel Reinoso

Ingeniero electrónico, egresado de la Maestría en Control y Automatización Industrial, Universidad Politécnica Salesiana, sede Cuenca.

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