A fuzzy logic controller for nonlinear inverted pendulum systems: Design, simulation, and performance evaluation Article Swipe
Chieu, Hanh Vu
,
Nguyen Duc Hong
,
Tran, Trinh Hieu
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.5281/zenodo.17722348
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.5281/zenodo.17722348
The inverted pendulum on a cart is a classical benchmark used to evaluate control strategies for nonlinear and underactuated systems. Its inherent instability and strong coupling between the pendulum’s rotation and the cart’s translation make it a challenging system to stabilize. This paper proposes a fuzzy logic–based controller (FLC) designed to stabilize the pendulum in its upright position while maintaining the cart near its equilibrium point. Unlike traditional linear controllers that require precise modeling or system linearization, the FLC uses linguistic rules and triangular membership functions to manage nonlinearities and uncertainties. A nonlinear mathematical model of the pendulum–cart system is developed and implemented in MATLAB/Simulink, where the fuzzy controller computes the control force based on real-time feedback of angular and translational states. Simulation results demonstrate that the proposed FLC achieves fast stabilization with a settling time of less than 5 seconds, minimal overshoot, and smooth transient performance. The control input remains bounded and energy-efficient, and the system maintains stability under disturbances and parameter variations. Overall, the results confirm that the fuzzy logic controller provides a robust, adaptive, and interpretable solution for nonlinear dynamic systems, outperforming traditional PID and model-based controllers in terms of response speed, stability, and robustness.
Related Topics
Concepts
Control theory (sociology)
Inverted pendulum
Fuzzy logic
Nonlinear system
Controller (irrigation)
Underactuation
Fuzzy control system
Computer science
Benchmark (surveying)
Settling time
Nonlinear control
Pendulum
Mathematics
Stability (learning theory)
PID controller
Transient (computer programming)
Position (finance)
Control engineering
Bounded function
Adaptive neuro fuzzy inference system
Control system
Robot
Double pendulum
Open-loop controller
Translation (biology)
System dynamics
Coupling (piping)
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.5281/zenodo.17722348
- OA Status
- green
- OpenAlex ID
- https://openalex.org/W7106793371
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W7106793371Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.5281/zenodo.17722348Digital Object Identifier
- Title
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A fuzzy logic controller for nonlinear inverted pendulum systems: Design, simulation, and performance evaluationWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2025Year of publication
- Publication date
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2025-11-30Full publication date if available
- Authors
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Chieu, Hanh Vu, Nguyen Duc Hong, Tran, Trinh HieuList of authors in order
- Landing page
-
https://doi.org/10.5281/zenodo.17722348Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://doi.org/10.5281/zenodo.17722348Direct OA link when available
- Concepts
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Control theory (sociology), Inverted pendulum, Fuzzy logic, Nonlinear system, Controller (irrigation), Underactuation, Fuzzy control system, Computer science, Benchmark (surveying), Settling time, Nonlinear control, Pendulum, Mathematics, Stability (learning theory), PID controller, Transient (computer programming), Position (finance), Control engineering, Bounded function, Adaptive neuro fuzzy inference system, Control system, Robot, Double pendulum, Open-loop controller, Translation (biology), System dynamics, Coupling (piping)Top concepts (fields/topics) attached by OpenAlex
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0Total citation count in OpenAlex
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| abstract_inverted_index.cart | 5, 61 |
| abstract_inverted_index.fast | 130 |
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| abstract_inverted_index.make | 34 |
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| abstract_inverted_index.that | 70, 125, 168 |
| abstract_inverted_index.time | 135 |
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| abstract_inverted_index.with | 132 |
| abstract_inverted_index.(FLC) | 48 |
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| abstract_inverted_index.force | 112 |
| abstract_inverted_index.fuzzy | 45, 107, 170 |
| abstract_inverted_index.input | 149 |
| abstract_inverted_index.logic | 171 |
| abstract_inverted_index.model | 94 |
| abstract_inverted_index.paper | 42 |
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| abstract_inverted_index.terms | 191 |
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| abstract_inverted_index.linear | 68 |
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| abstract_inverted_index.point. | 65 |
| abstract_inverted_index.smooth | 144 |
| abstract_inverted_index.speed, | 194 |
| abstract_inverted_index.strong | 24 |
| abstract_inverted_index.system | 38, 75, 98, 156 |
| abstract_inverted_index.angular | 118 |
| abstract_inverted_index.between | 26 |
| abstract_inverted_index.bounded | 151 |
| abstract_inverted_index.confirm | 167 |
| abstract_inverted_index.control | 13, 111, 148 |
| abstract_inverted_index.dynamic | 182 |
| abstract_inverted_index.minimal | 141 |
| abstract_inverted_index.precise | 72 |
| abstract_inverted_index.remains | 150 |
| abstract_inverted_index.require | 71 |
| abstract_inverted_index.results | 123, 166 |
| abstract_inverted_index.robust, | 175 |
| abstract_inverted_index.states. | 121 |
| abstract_inverted_index.upright | 56 |
| abstract_inverted_index.Overall, | 164 |
| abstract_inverted_index.achieves | 129 |
| abstract_inverted_index.cart’s | 32 |
| abstract_inverted_index.computes | 109 |
| abstract_inverted_index.coupling | 25 |
| abstract_inverted_index.designed | 49 |
| abstract_inverted_index.evaluate | 12 |
| abstract_inverted_index.feedback | 116 |
| abstract_inverted_index.inherent | 21 |
| abstract_inverted_index.inverted | 1 |
| abstract_inverted_index.modeling | 73 |
| abstract_inverted_index.pendulum | 2, 53 |
| abstract_inverted_index.position | 57 |
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| abstract_inverted_index.proposes | 43 |
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| abstract_inverted_index.response | 193 |
| abstract_inverted_index.rotation | 29 |
| abstract_inverted_index.seconds, | 140 |
| abstract_inverted_index.settling | 134 |
| abstract_inverted_index.solution | 179 |
| abstract_inverted_index.systems, | 183 |
| abstract_inverted_index.systems. | 19 |
| abstract_inverted_index.adaptive, | 176 |
| abstract_inverted_index.benchmark | 9 |
| abstract_inverted_index.classical | 8 |
| abstract_inverted_index.developed | 100 |
| abstract_inverted_index.functions | 85 |
| abstract_inverted_index.maintains | 157 |
| abstract_inverted_index.nonlinear | 16, 92, 181 |
| abstract_inverted_index.parameter | 162 |
| abstract_inverted_index.real-time | 115 |
| abstract_inverted_index.stability | 158 |
| abstract_inverted_index.stabilize | 51 |
| abstract_inverted_index.transient | 145 |
| abstract_inverted_index.Simulation | 122 |
| abstract_inverted_index.controller | 47, 108, 172 |
| abstract_inverted_index.linguistic | 80 |
| abstract_inverted_index.membership | 84 |
| abstract_inverted_index.overshoot, | 142 |
| abstract_inverted_index.stability, | 195 |
| abstract_inverted_index.stabilize. | 40 |
| abstract_inverted_index.strategies | 14 |
| abstract_inverted_index.triangular | 83 |
| abstract_inverted_index.challenging | 37 |
| abstract_inverted_index.controllers | 69, 189 |
| abstract_inverted_index.demonstrate | 124 |
| abstract_inverted_index.equilibrium | 64 |
| abstract_inverted_index.implemented | 102 |
| abstract_inverted_index.instability | 22 |
| abstract_inverted_index.maintaining | 59 |
| abstract_inverted_index.model-based | 188 |
| abstract_inverted_index.robustness. | 197 |
| abstract_inverted_index.traditional | 67, 185 |
| abstract_inverted_index.translation | 33 |
| abstract_inverted_index.variations. | 163 |
| abstract_inverted_index.disturbances | 160 |
| abstract_inverted_index.mathematical | 93 |
| abstract_inverted_index.pendulum’s | 28 |
| abstract_inverted_index.performance. | 146 |
| abstract_inverted_index.interpretable | 178 |
| abstract_inverted_index.logic–based | 46 |
| abstract_inverted_index.outperforming | 184 |
| abstract_inverted_index.stabilization | 131 |
| abstract_inverted_index.translational | 120 |
| abstract_inverted_index.underactuated | 18 |
| abstract_inverted_index.linearization, | 76 |
| abstract_inverted_index.nonlinearities | 88 |
| abstract_inverted_index.uncertainties. | 90 |
| abstract_inverted_index.pendulum–cart | 97 |
| abstract_inverted_index.MATLAB/Simulink, | 104 |
| abstract_inverted_index.energy-efficient, | 153 |
| cited_by_percentile_year | |
| countries_distinct_count | 1 |
| institutions_distinct_count | 3 |
| citation_normalized_percentile.value | 0.79251139 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |