Course Simulation Project -- Inverted Pendulum with Fuzzy Controller

In this project, a inverted pendulum system controled by a simple fuzzy controller is simulated in the Matlab environment. The main refereence is the book "Fuzzy Control" [1]. The main purpose is to evaluate effects of different parameters. There are three types of files: supported functions, simulation functions and simulation results.

Supported Functions

Model of the inverted pendulum system InvertedPendulum.m: Calculate the current enviroment values based on values of previous time step;
Fourth order Runge Kutta method ODE_RK.m: Solve the ODE by using the fourth order Runge Kutta method. It is used in the InvertedPendulum.m;
Fuzzy Controller FuzzyController.m: Based on the user's settings and measured values to calculate the force which will transferred to the inverted pendulum system. It is only contains two inputs and one outputs. One input is the angle error. Another input is the angle speed error. The output is the force.
ConvertEps2Pdf.sh: Convert simulation results from eps figures to pdf figures. Only for Mac OS System. How to use it: In terminal, run chmod +x ./ConvertEps2Pdf.sh;./ConvertEps2Pdf.sh

Simulation Functions

test_membershipfunction.m: Plot the membership functions based on the user's settings. Example results are e_membershipfunction.pdf, de_membershipfunction.pdf and F_membershipfunction.pdf in Test_Results floder.;
test_InvertedPendulum_without_controller.m: Test the model of the inverted pendulum. No control is performed. Example results are without_control_1.pdf and without_control_2.pdf in Test_Results floder.;
test_InvertedPendulum_with_fuzzy_controller.m: Simulate the fuzzy control process of the inverted pendulum. Example results are force_**.pdf and angleandposition_**.pdf in Test_Results floder.
Diff_Parameters_Diff_Results_triangle_min.m: This file is to show the simulation results for effects of different parameters. Simulation results are in the Simulation_Results_triangle_min floder (Membership functions are triangular. And use minimum to represent the premise and implication and COG classification)
Diff_Parameters_Diff_Results_Gaussian_product.m: This file is to show the simulation results for effects of different parameters. Simulation results are in the Simulation_Results_Gaussian_product floder (Membership functions are Gaussian. And use product to represent the premise and implication and COG classification)
Diff_Parameters_Diff_Results_49rules.m: For the previous simulations, only 25 rules are used. This simulation is to show the effect of rule base. The number of rules is increased to 49.

Simulation Results

There are some example results for testing simulation functions in the folder Test_Results. These example all follows the section "2.4 Simple Desgin Example: The Inverted Pendulum" of [1].
Simulation results of Diff_Parameters_Diff_Results_triangle_min.m are all in the folder Simulation_Results_triangle_min. These simulations also follows the section "2.4 Simple Desgin Example: The Inverted Pendulum" of [1].
Simulation results of Diff_Parameters_Diff_Results_Gaussian_product.m are all in the folder Simulation_Results_Gaussian_product. These simulations are for "2.10 Design Problem 2.1" of [1].
Simulation results of Diff_Parameters_Diff_Results_49rules.m are all in the folder Simulation_Results_49rules. These simulations are for "2.10 Design Problem 2.1" of [1].

Just for Fun

GUI_InvertedPendulumSimulation.m is only for fun. (￣┰￣)

Reference