TEACHING INTELLIGENT CONTROL: THE INVERTED PENDULUM EXPERIMENT REVISITED.

Resumo

This work shows how to use inverted pendulum hardware in the teaching of intelligent control techniques. The concepts of a fuzzy logic based controller are applied on an inverted pendulum. The design process is explained in detail, offering a practical guide for the reproduction of both the experiment and simulation. Last but not least, the results are commented and the performance achieved with this controller is compared to that of the original one, which was delivered with the hardware. This work also suggests future developments for new undergraduate teams.