Adil

Thesis Title: Design and development of an Adaptive Controller for an Inverted Pendulum

He is implementing a Fuzzy Logic Controller (FLC) on an inverted pendulum hardware.  Initially a PID controller will be implemented on MATLAB that will be interfaced with the hardware. After achieving successful results from a PID controller a Model Free Fuzzy Logic Controller will be implemented in MATLAB. Disturbance rejection properties of the FLC will also be investigated.

The controlling of a Non-Linear System is an emerging research field. There are various techniques for non linear system controlling. The major effort in such techniques is the modeling of non-linear system and it’s controlling. Fuzzy control works on the linguistic rules and has an edge over conventional control logics due to the feature that complete human knowledge about the plant data can be easily incorporated into these types of controllers and this feature is the major cause of its popularity. The ultimate goal of this thesis is to develop an adaptive control of an Inverted Pendulum. Inverted pendulum is one of the best examples of a non linear control system.

As inverted pendulum system is a fast varying system. It requires very quick controlling (command signal) without any delay. The platform for controller designing of this system is NI LabVIEW (National Instruments Laboratory Virtual Instrumentation Electronic Workbench). The LabVIEW tool “Control and Simulation Toolbox” contains a “PID and Fuzzy Logic” toolkit. The fuzzy system designer tool in LabVIEW is used for designing the fuzzy system of Inverted Pendulum and then implementing the fuzzy controller on the hardware.