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Lesson Summary
Here are steps on how to learn Fuzzy control using a swing-up inverted pendulum.
Fuzzy Inference Method
By using the Result-Check window, you can learn the concrete relationship between the rules and inputs / outputs to understand the actual process of Fuzzy inference.
Creating Rules
You can learn the meaning of Fuzzy rules and how to create each and every rule based on the concrete example of the swing-up inverted pendulum in along with the following steps.
- 1st stage to swing the tilted pendulum up toward its TDP (Swing-up control)
- 2nd stage to stop the pendulum at a proximity of its TDP (Swing-stop control)
- 3rd stage to stabilize the pendulum at around its TDP (Stabilization control)
Checking Movement
While causing the movement by each rule above, you can check whether the relationship between the movement and fire-rule depicted on the Control-display window is normal or not.
Tuning
According to the failure found in the result of the above movement check, you can repeatedly apply fine-tuning to the rules using both the Control-display and the Result-check windows.
Applying for the other purpose
By setting the pendulum to downward from upward upon completion of control for the "Swing-up Inverted Pendulum", you can apply the acquired knowledge to realize the comparatively simple pendulum control which can give a constant cycle time or stabilization. Especially, the stabilization control will help you to understand the concept employed in the overhead crane or boom crane.
Seeing is believing! Let’s start! "Fuzzy-me!"
A wooden plate with a roll of gummed-cloth-tape is attached to the pendulum still in balance. Wonder isn’t it?
 (C) 2004 ADWIN Corp.
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