Hardware Implementation of Fuzzy Controller Using the Lookup Table in ۸-bit Microcontroller for the Stability ofInverted Pendulum System

The inverted pendulum is a typical multi-variable, nonlinear, and unstable sys-tem. This paper aims to obtain the stability of a real pendulum around theequilibrium point using the fuzzy logic controller. This fuzzy logic controlleris designed in MATLAB toolbox environment. In this paper, the mathematical modelof the inverted pendulum is unknown. The simple tuning algorithm is used toset the parameters of the fuzzy control system, which will allow the user to set theparameters of the control system without getting involved in the system dynamicsand the basic concepts of fuzzy logic. The control scheme was implemented in theform of a lookup table in an ۸-bit microcontroller, and a good performance wasobtained in real-time fuzzy control of the inverted pendulum. The actual test resultsindicate that the fuzzy controller implemented in the microcontroller can stabilizean inverted pendulum and has advantages over classical controllers in this eld.

کلیدواژه ها:

Fuzzy Logic Controller ، Inverted Pendulum ، Simple Tuning Algorithm ، Microcontroller