전자공학회논문지S (Journal of the Korean Institute of Telematics and Electronics S)
- 제35S권1호
- /
- Pages.60-67
- /
- 1998
- /
- 1226-5837(pISSN)
PID 제어기의 게인 조절을 위한 퍼지 게인 스케쥴링 기법 및 응용
Fuzzy gain scheduling for the gain tuning of PID controller and its application
초록
In this paper, a gain scheduling method of PID controller is proposed using fuzzy logic for balancing control of an inverted pendulum. First, gains of PID controller are calculated using pole-placement technique for the linearized model of an inverted pendulum and these gains are modified by fuzzy logic throughout control operations. A PD controller is used by switching near the set-point to improve the performance. It is illustrated by simulations that the proposed hybrid fuzzy control method yidels smaller rising time and overshoot compared to the fixed-gain PID controller or fuzzy logic-based only PID controller.
키워드