Single Input Variable Universe Fuzzy Controller with Contraction-Expansion Factor for Double Inverted Pendulum

Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 174)


To stabilize the double inverted pendulum, a single input variable universe fuzzy controller is designed. In conventional fuzzy controller, input variables are the error and the change-in-error but in this single input fuzzy controller, input variable is the signed distance. The universe of discourse of this single input fuzzy controller is varied with the help of contraction-expansion factor in order to improve the accuracy and respond speed. This control method has a high accuracy as well as improved response time over conventional fuzzy controller which has been observed by experiments.


Fuzzy Controller Fuzzy Logic Controller Single Input Variable Universe Rule Table 


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Copyright information

© Springer India 2013

Authors and Affiliations

  1. 1.IIT RoorkeeRoorkeeIndia

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