Proficiency of Fuzzy Logic Controller for Stabilization of Rotary Inverted Pendulum based on LQR Mapping

  • Moez Ul Hassan
  • Muhammad B. Kadri
  • Imran Amin
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8256)


Stabilization of an inverted pendulum is one of the most appealing and conventional problem for control engineering. This system has extremely nonlinear representation and entirely unstable dynamics. The main idea of this research was to design control algorithms for the balancing of rotary inverted pendulum.

Research gives an idea about a convenient approach to implement a real-time control which harmonizes the pendulum in vertical-upright position. Two stabilization controllers, LQR (Linear Quadratic Regulator) and Fuzzy Logic were designed to deal with the non-linear characteristics of the system.

Outcome of both control methods commencing computer simulation are specified to illustrate the efficiency of these controllers. The projected intelligent hybrid controller is evaluated by means of the conventional controller and reliability is demonstrated. The results showed that fuzzy controller exhibit improved performance than LQR near the linearized region.

The paper widened the dynamical representation and initiates the implementation of the considered schemes comparatively.


rotary inverted pendulum stabilization LQR fuzzy logic controller simulink 


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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • Moez Ul Hassan
    • 1
    • 2
  • Muhammad B. Kadri
    • 1
  • Imran Amin
    • 2
  1. 1.Electronics and Power Engineering Department, PN Engineering CollegeNational University of Sciences and TechnologyIslamabadPakistan
  2. 2.Centre of Renewable Energy ResearchSZABIST KarachiPakistan

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