Simulation studies for stabilization control of furuta pendulum system using cascade fuzzy PD controller

A fuzzy PD controller in cascade form is proposed in the present study to deal with stability issue of Furuta pendulum. The Furuta pendulum which is widely known as Rotary inverted pendulum (RIP) is under-actuated mechanical system. This paper, described a development of nonlinear dynamical equations of the RIP system using Kane's method. The Simulink model of RIP is developed based on the derived equations. The open loop simulation studies are carried out and the results indicated that, the RIP system is inherently nonlinear and unstable. The fuzzy PD controller is designed for stability control of RIP. The simulation result found show that the proposed controller is effective based on the four performance indexes (i.e. settling time, overshoot, undershoot and steady state error). The proposed fuzzy PD controller can be used to solve the stabilization control for other systems with unstable and nonlinear behavior.