Estudo comparativo entre os controladores fuzzy e pid aplicados ao controle de um pêndulo invertido utilizando plataforma lego mindstorms NXT

Abstract

The inverted pendulum on car is a system used in the study of theories of control. Their nonlinear dynamics allows both the application of controls classical and intelligent system. This article has the objective to contribute to the study of nonlinear systems, presenting a comparative of conventional and fuzzy controller applied to stabilize the inverted pendulum in the car. This contribution is given by the development control rules otimizidas, aimed at reducing execution time and implementation in a device with low processing power. In this work, the inverted pendulum was built using the Lego Mindstorms NXT R kit and modeled, and performance of the controllers is analyzed. Experimental results are presented to validate the proposal.