Towards a Novel Hybrid Fuzzy Logic-Based Control Strategy to An Inverted Pendulum System

International Journal of Electrical and Electronics Engineering
© 2023 by SSRG - IJEEE Journal
Volume 10 Issue 12
Year of Publication : 2023
Authors : Quang-Hung Do, Ngoc-Khoat Nguyen
How to Cite?

Quang-Hung Do, Ngoc-Khoat Nguyen, "Towards a Novel Hybrid Fuzzy Logic-Based Control Strategy to An Inverted Pendulum System," SSRG International Journal of Electrical and Electronics Engineering, vol. 10,  no. 12, pp. 18-26, 2023. Crossref,


The current study proposes a new solution with a successful control method to balance an inverted pendulum placed on a cart. The control plant is a nonlinear drive system consisting of a freely rotating rod and a small moving 4-wheel vehicle. A novel control strategy is created as a reasonable integration between a fuzzy logic structure built up depending on the Lyapunov stability theory and the Particle Swarm Optimization (PSO) algorithm. The Lyapunov theory has long been known for designing effectual control schemes. Meanwhile, the PSO mechanism, one of the most famous and efficient optimization methods, determines three scaling factors in the control diagram. Various simulation results of the proposed hybrid fuzzy logic controller in four scenarios have been successfully obtained using MATLAB/Simulink software, outperforming several existing counterparts, namely conventional PID, PD- and PI-like fuzzy logic regulators. Promising findings in this study verify the applicability of the proposed control methodology in both theoretical and practical aspects.


IPBCS, Fuzzy logic, Lyapunov theory, PSO, Hybrid controller.


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