The control of mechanical systems is an academically wide field of study. The studies are mostly applied to certain models and the results are discussed. In this study, a different model, Furuta pendulum, is designed to show the effectiveness of the controller. This model was preferred because it is easily accessible and control laws are applicable for this system. The Furuta pendulum or rotational inverted pendulum is formed by a rotating arm rotating in the horizontal plane and a pendulum connected to its arm which is free to rotate vertically in this plane. In this study, traditional Proportional-Integral-Derivative (PID) control method is designed via fuzzy logical control method. In the PID control rule, control gain coefficients are constant values, while in this study, these coefficients are determined by using fuzzy logic controller. In order to apply the fuzzy logic control rule, input and output signals must be determined. In this study, trajectory tracking error and its derivative are determined as an input. The output signals are also PID controller coefficients. Rule table are prepared by using trial and error method between input and output signals. The developed controller is applied to the furuta model. The behavior of the controller is observed by applying different trajectories. The simulation results showed that the developed controller is successful.
Anahtar Kelimeler: PID Control, Fuzzy Logic Control, Furuta Pendulum
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