Based On The Variable Domain Of The Inverted Pendulum Fuzzy Control System

Fuzzy logic controller with variable region is a kind of fine self-reacting controller. With a proper expandable & shrinkable factor, its region can change accordingly when input error changes. Thus, its fuzzy rules increase greatly and it becomes more and more sensitive to error when output reaches the expectation. On both dynamic performance indices and stable performance indices, it is found that fuzzy logic controller with variable region is a great improvement upon common fuzzy logic controller, especially on precision of controlling. However, the improvement has close relations with expandable & shrinkable factor. Whether the controller is fine or not, even steady or not, depends greatly on whether the expandable & shrinkable factor is appropriate or not.The main contribution of this dissertation is as follows.1. The dissertation provides a 2-input & 1-output fuzzy logic control algorithm with indirectly-inherited variable region. Its opera- tion becomes simpler and quicker compared with the algorithm with directly-inherited variable region.2. With many simulations to 1-input & 1-output object and the pendulum, it shows that the precision of the controller based on the algorithm with indirectly-inherited variable region is much higher than the common Mamdani fuzzy logic controller.3. How the parameter of expandable & shrinkable factor works on dynamic performance is also discussed in detail and the laws of changes on dynamic performance indices are summarized by the adjustment of the parameter.4. With the controller, not only ZWP- II inverted pendulum is controlled on expectative position, but also the precision of control is much satisfying.