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Journal of Control Science and Engineering
Volume 2012, Article ID 634985, 8 pages
Research Article

Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum

1Department of Computer, Chongqing University, Chongqing 400044, China
2Department of Electrical Engineering, Yuan Ze University, Chung-Li 32003, Taiwan

Received 2 May 2012; Revised 16 July 2012; Accepted 8 August 2012

Academic Editor: Wen Yu

Copyright © 2012 Huanhuan Mai et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A simple model-free controller is presented for solving the nonlinear dynamic control problems. As an example of the problem, a planetary gear-type inverted pendulum (PIP) is discussed. To control the inherently unstable system which requires real-time control responses, the design of a smart and simple controller is made necessary. The model-free controller proposed includes a swing-up controller part and a stabilization controller part; neither controller has any information about the PIP. Since the input/output scaling parameters of the fuzzy controller are highly sensitive, we use genetic algorithm (GA) to obtain the optimal control parameters. The experimental results show the effectiveness and robustness of the present controller.