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Fuzzy Controller Design in Network Control Systems Based on Double Inverted Pendulum Control


Mojtaba Ghodrati and Alireza Sahab


Vol. 18  No. 9  pp. 12-23


Network control systems (NCSs) are time-dependent systems which connect to each other through a communication link like sensors, controllers and actuators. Therefore, numerous challenges arise for the design process of NCS. Generally, the feedback control systems that use a network system in their loops are called the network control systems (NCSs). NCSs are divided into two main types of local NCSs and wide NCSs. In local NCSs, components are connected to each other by local connections. This study presents various methods for restoring the inverted pendulum from unbalanced state to balance state and maintaining this state. Initially before setting up the inverted pendulum system, the system has been simulated in MATLAB software using its mechanical equations in order to reveal its general schematics. Normally, it is possible to determine the network effective parameters on the control system, such as delay and data loss in these systems. There are wide NCSs in contrast to these systems these systems are distributed and the components of the system are interconnected by the local network and the Internet. The delay plays an important role in the implementation of the real-time NCS. This can make the NCS system unstable and negatively impact the realization and stability of the system. Communication networks inevitably cause delay in NCSs. Therefore, the delay is necessary to be compensated. The time used by the system depends on network characteristics such as topology and routing algorithms used in the network. In the present study, the objective was to design and simulate a fuzzy control for NCSs, and TrueTime and LMI toolboxes of the MATLAB software were used to simulate a fixed delay network. The Takagi-Sugeno (T-S) fuzzy model method was used to design the fuzzy controller.


Fuzzy controller, Double inverted pendulum, TrueTime, NCS network control.