Real time performance evaluation of a self-tuning fuzzy PID controller on an inverted pendulum in crane mode operation

A self-tuning fuzzy PID controller (STFPID) is developed to enhance the performance of an inverted pendulum in crane mode operation. Efficacy of STFPID is justified against the performance of a conventional PID and fuzzy PID controller (FPID). Inverted pendulum is a typical example of a nonlinear system and its free hanging mode is a well accepted form to realize a usual crane operation. Here, STFPID is designed with a continuous variation of its output scaling factor depending on the latest process status. Simulation study along with real time experimentation justifies the superiority of STFPID in comparison with conventional PID and FPID. Moreover, performance of STFPID is found to be more robust in comparison with conventional and fuzzy PID controllers.