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Inverted pendulum control using fuzzy logic

Inverted pendulum control using fuzzy logic

Inverted pendulum control using fuzzy logic

(OP)
Hi,

I am trying to practice with simulink and fuzzy logic on the inverted pendulum system.  I am following this website's PID example, but would like to substitute PID with fuzzy logic:

http://www.library.cmu.edu/ctms/ctms/simulink/examples/pend/pendsim.htm

My main question at this point is, how does the controller (PID or fuzzy logic) distinguish between proportional (angle) and derivative (angle rate) inputs?  See my picture attached below, I am trying to make the controller take in the angle error and angle rate error.  I can attach my actual files later if needed.

Thanks.

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