Simple model-free controller for the stabilization of planetary inverted pendulum (Q1953709)

Summary: A simple model-free controller is presented for solving the nonlinear dynamic control problems. As an example of the problem, a Planetary gear-type Inverted Pendulum (PIP) is discussed. To control the inherently unstable system which requires real-time control responses, the design of a smart and simple controller is made necessary. The model-free controller proposed includes a swing-up controller part and a stabilization controller part; neither controller has any information about the PIP. Since the input/output scaling parameters of the fuzzy controller are highly sensitive, we use a Genetic Algorithm (GA) to obtain the optimal control parameters. The experimental results show the effectiveness and robustness of the present controller.