Design and implementation of fuzzy control on a two-wheel inverted pendulum

Cheng Hao Huang, Wen June Wang, Chih Hui Chiu

Research output: Contribution to journalArticlepeer-review

166 Scopus citations


This paper introduces the design and implementation of a two-wheel inverted pendulum (TWIP) system with a fuzzy control scheme and the system-on-a- programmable-chip (SoPC) technology. The control scheme includes three kinds of fuzzy controls which are the fuzzy balanced standing control (FBSC), the fuzzy traveling and position control (FTPC), and the fuzzy yaw steering control (FYSC). Based on the TakagiSugeno fuzzy model of the TWIP, the FBSC is a structure of a parallel distributed compensator solved by the linear matrix inequality approach. Based on the motion characteristic of the TWIP, the FTPC and the FYSC are designed with Mamdani architecture if-then rules. Furthermore, the fuzzy control scheme for the real TWIP is implemented into an SoPC development board with an embedded reduced-instruction-set-computer soft-core processor and user intellectual property modules. Both the computer simulations and practical experiments demonstrate the effectiveness of the proposed control scheme.

Original languageEnglish
Article number5556004
Pages (from-to)2988-3001
Number of pages14
JournalIEEE Transactions on Industrial Electronics
Issue number7
StatePublished - Jul 2011


  • Field-programmable gate array (FPGA)
  • fuzzy control
  • parallel distributed compensation (PDC)
  • system on a programmable chip (SoPC)
  • two-wheel inverted pendulum (TWIP)


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