Fuzzy control of self erecting inverted pendulum with parameter sensitivity analysis

This project focused of designing fuzzy controllers, capable of controlling nonlinear systems like inverted pendulum where it is cumbersome to develop conventional controllers based on mathematical modelling. The self-erecting inverted pendulum (SEIP) system is an inherently unstable system for which two fuzzy based controllers namely (Mamdani and Sugeno) were designed and implemented. These fuzzy controllers were further optimized through parameter sensitivity analysis.