Swing-Up and Stability Control of a Rotary Inverted Pendulum Through Fuzzy-Based Sliding Mode Control

This paper introduces an approach to tackle the control challenges posed by the rotary inverted pendulum (RIP). We propose a hybrid controller that amalgamates the strengths of Fuzzy Mamdani control and Sliding Mode Control (SMC), with a primary emphasis on disturbance rejection. Fuzzy Mamdani control leverages fuzzy logic's adaptability and capacity to manage uncertainty and vagueness, making it well-suited to address the non-linearities and complexities inherent to the rotary inverted pendulum. Additionally, SMC, renowned for its robustness and ability to drive system states along a predefined sliding surface, excels in maintaining system stability while effectively mitigating disturbances. This synergy between fuzzy logic control (FLC) and SMC can enhance RIP control especially in scenarios where disturbance rejection is crucial. In addition to its primary focus on disturbance rejection, this approach places significant emphasis on the efficient swing-up of RIP, a crucial aspect in which energy optimization strategies are employed to ensure a seamless and energy-efficient transition to the inverted position.