tangfy97/inverted_pendulum

Inverted_Pendulum

This is an 20% assignment for Artificial Intelligence course at Massey University. Your task is mainly to design and implement a fuzzy controller (Zero-order Sugeno Fuzzy Inference System) for balancing an inverted pendulum system.

Here's the info from Dr N.H.Reyes: "A start-up program using second-order derivative physics equations and the emulated BGI graphics library are provided, simulating the complete dynamics of the cart-pendulum system. In addition, it also includes a function for collecting data points for plotting a control surface, and a fuzzy logic engine that you can utilise to implement a complete fuzzy controller."

References

1. T. Yamakawa, A Fuzzy Inference Engine in Nonlinear Analog Mode and Its Application to a Fuzzy Logic Controller, IEEE Transaction on Neural Networks, vol. 4, no. 3, pp. 496-522, 1993
2. Lectures from the paper’s Stream website
3. Neural Network and Fuzzy Logic Applications in C-C++ Paperback – August, 1994 by Stephen T. Welstead