An integrated controller for stabilizing an inverted pendulum: LQR and Fuzzy Logic Control with Observer-Based State Estimation

• Published in: Journal of Applied Science and Engineering Vol. 27; no. 5; pp. 2423 - 2432
• Main Authors: Thi-Van-Anh Nguyen, Ngoc-Hiep Tran
• Format: Journal Article
• Language: English
• Published: Tamkang University Press 01.02.2024
• Subjects: extended state observer; fuzzy logic control; high-order integral-chain differentiator; inverted pendulum; linear quadratic regulator

This paper addresses the challenging control problem of stabilizing an inverted pendulum on a cart. The inherent nonlinearity, instability, and under actuation of the system pose significant difficulties in achieving simultaneous pendulum stabilization and cart movement. To overcome these challenges...