Objective Scope of Project Research Development

1.2 Problem Statement

Control of inverted pendulum system is recognized as a benchmark problem for various controller designs and widely employed within laboratories for education and research purposes. It is popular due to its simple setup and several interesting features such as the instability, nonlinearity, and nonminimum phase characteristics. The inverted pendulum system is an intriguing subject from the control point of view due to their intrinsic nonlinearity. The problem is to balance the inverted pendulum as well as it requires a continuous correction mechanism to stay upright since the system is unstable, nonlinear, and has nonminimum phase behavior as mentioned.

1.3 Objective

The objectives of this project are to balance the pendulum on a moving cart and to find a better control approach for the Inverted Pendulum System by using Fuzzy Logic Controller. i. To synthesis the mathematical model of the Inverted Pendulum. ii. To understand the concept of Inverted Pendulum model. iii. To design a Fuzzy Logic Controller FLC to control the system.

1.4 Scope of Project

The scope of this project are: i. To study the concept of an inverted pendulum system. ii. After that, a mathematical model of the inverted pendulum system is derived using mathematical model which is created by K. Ogata 1978. iii. Then, Fuzzy Logic Controller system have to be studied and designed before implementing and analyzing the project in MATLAB and Simulink.

1.5 Research Development

This project is about the nonlinear system. In that case, the first thing to be learned is the concept of the nonlinear system. After that, the research should be focusing on the concept of inverted pendulum system without any controller. Next is to study how to derive the mathematical model of the inverted pendulum system without any controller. This nonlinear system needs a controller to control the system. The controller suggested is Fuzzy Logic Controller. Therefore, the concept and how to design the inverted pendulum system with the Fuzzy Logic Controller need to be learnt and understand. All of these derivations will be implemented in MATLAB and Simulink program and the results need to be analyzed. For that reason, it is necessary to learnt and really understand how to use the MATLAB commands and tools. It is really important to be well understood in MATLAB and Simulink programming as this project totally employs this MATLAB and Simulink program. Then, with a plus of ProportionalIntegralDerivative PID controller to the FLC, a new plus added controller will be designed to achieve the greater balance for the inverted pendulum. CHAPTER II LITERATURE REVIEW In this chapter, discussion about the basic concept of inverted pendulum system and FLC used for inverted pendulum system will be presented. It will consist of detail explanation about the model, control approach, results and analysis.

2.1 Literature Review