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Vol. 24 No. 40 (2015)

Papers

Development of a PID Controller by Tuning Fuzzy Applied to a Rotational System (Inverted Pendulum)

https://doi.org/10.19053/01211129.4834

Published 2015-09-01

  • Oscar Eduardo Gualdrón-Guerrero
    • ,
  • Kelvin de Jesús Beleño-Sáenz
    • ,
  • Danilo Alfonso López

Oscar Eduardo Gualdrón-Guerrero
Universidad de Pamplona (Pamplona–Norte de Santander, Colombia).

Kelvin de Jesús Beleño-Sáenz
Universidad Autónoma del Caribe (Barranquilla-Atlántico, Colombia).

Danilo Alfonso López
Universidad Francisco José de Caldas (Bogotá-Distrito Capital, Colombia).

Abstract

The inverted pendulum system has arised a great interest in the control and academia areas, this system modeling presents many difficulties associated with the control problems in the real world. This paper presents a different way to develop a control strategy for the system in question, based on the design and implementation of the rotational pendulum system, then employing the same modeling strategies by using the system identification methods, based on the artificial intelligence neural networks (N-FIR), to finally taking the tuning fuzzy control step, for the different physical conditions caused on the pendulum (change in length and/or mass), which are validated, with good results on the real system developed.

Keywords

artificial intelligence, inverted pendulum, intelligent control, system identification, Fuzzy tuning

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