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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) IAES International Journal of Robotics and Automation (IJRA) International Journal of Applied Power Engineering (IJAPE) Jurnal Penelitian Saintek AQUATIC SCIENCE & MANAGEMENT Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Pendidikan IPA Indonesia JTSL (Jurnal Tanah dan Sumberdaya Lahan) Jurnal Teknologi Informasi dan Ilmu Komputer JURNAL ILMIAH PENDIDIKAN FISIKA AL BIRUNI ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Edufisika: Jurnal Pendidikan Fisika IJIET (International Journal of Indonesian Education and Teaching) Jurnal Ilmiah Pendidikan Fisika PENDIPA Journal of Science Education COMPTON: Jurnal Ilmiah Pendidikan Fisika JPBIO (Jurnal Pendidikan Biologi) PengabdianMu: Jurnal Ilmiah Pengabdian kepada Masyarakat Kasuari: Physics Education Journal (KPEJ) Silampari Jurnal Pendidikan Ilmu Fisika Jurnal Paedagogy Jurnal Pendidikan, Sains, Geologi, dan Geofisika (GeoScienceEd Journal) Bioscientist : Jurnal Ilmiah Biologi Prima Abdika: Jurnal Pengabdian Masyarakat Darmabakti: Jurnal Inovasi Pengabdian dalam Penerbangan Journal Evaluation in Education (JEE) Jurnal Inovasi Pengabdian Masyarakat Pendidikan East Asian Journal of Multidisciplinary Research (EAJMR) IJOEM: Indonesian Journal of Elearning and Multimedia Finger : Jurnal Ilmiah Teknologi Pendidikan Amplitudo: Jurnal Ilmu dan Pembelajaran Fisika Aktual : Jurnal Pengabdian Kepada Masyarakat Journal of Fuzzy Systems and Control (JFSC) IJIS Edu : Indonesian Journal of Integrated Science Education
Mayub, Afrizal
Universitas Bengkulu
Agriculture, Biological Sciences & Forestry Arts Humanities Automotive Engineering Biochemistry, Genetics & Molecular Biology Chemistry Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Earth & Planetary Sciences Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Immunology & microbiology Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Law, Crime, Criminology & Criminal Justice Mathematics Physics Public Health Social Sciences Transportation Other

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Journal : Journal of Fuzzy Systems and Control (JFSC)

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Fuzzy-PID Control for Balancing a Two-Wheeled Inverted Pendulum Robot Fahmizal; Mayub, Afrizal; Rafanah, Lintang Fathia; Latifa, Smail
Journal of Fuzzy Systems and Control Vol. 4 No. 1 (2026): Vol. 4 No. 1 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v4i1.390

Abstract

A two-wheeled inverted pendulum robot (TWIPR) requires continuous control action because its upright position is inherently unstable and highly sensitive to disturbances. This research proposes the use of a fuzzy-PID controller to keep the TWIPR balanced. Although PID has several advantages, its performance can degrade when the system is subjected to changing conditions. To address this, fuzzy logic is applied to enhance the adaptive capabilities of the PID controller. The fuzzy system dynamically generates PID parameters based on predetermined fuzzy rules, effectively maintaining system stability. The fuzzy membership functions used, namely MF3, MF5, and MF7, were compared through no-load and loaded tests. In the no-load test, the fuzzy-PID with MF7 reduced rise time, settling time, overshoot, peak value, and peak time by 1.229%, 0.673%, 86.703%, 7.232%, and 2.952%, respectively, compared with those of the conventional PID. However, the MF3 configuration only excels in overshoot and peak time, while the MF5 configuration only shows improvements in settling time, overshoot, and peak value. Further testing results show that Fuzzy-PID with MF7 provides the most stable performance under load conditions.
Co-Authors ACENG RUYANI Akbar Agustian, Muhammad Aniliawati, Ur Anugrah, Pinto Arsela Eko Listiono Bambang Prayogo, Bambang BHAKTI KARYADI Bramastia Budi Bayu Murti Budiyanto, Ma’un Dara, Niki Dwi Dia Deddy Bakhtiar, Deddy Dedy Hamdani Defianti, Aprina Delima, Ega Marita Dewi , Deshinta Arrova Dinata, Kristian Eko Risdianto Elsi Adelia Fitri Esra, Gracia Fahmizal Fahmizal, Fahmizal Farid, Muchammad Firdaus, M. Lutfhi Firdaus, Mochamad Lutfi Funny Farady Coastera, Funny Farady Galih Setyawan Henny Johan Herawati, Asmida Hidayat Nur Isnianto Iskandar, Aiza Sabina Putri Iwan Setiawan Laberta, Tinu Latifa, Smail Lazfihma, Lazfihma Lia Anggraini Lina Mahardiani Lukmanul Hakim M. Farid, M. M. Lutfi Firdaus, M. Lutfi Maghfiroh, Hari Malau, Defi Dormasi Maulana, Yudi Maun Budiyanto, Maun Muhammad Arrofiq Najwa, Farah Aulia Nirwana, Nirwana Nofita, Inka Noni Noviana Nurcahyani Nurhamidah Nursa'adah, Euis Nursaadah, Euis Nursa’adah, Euis Nutriastuti, Putri Orlando, Tommy Richard Parlindungan, Deni Pistira, Pistira PRATAMA, DONNY BUDI Pratikno, Matthew Sebastian Pratiwi, Revika Julia Purwaningsih Rafanah, Lintang Fathia Rijalussalam, Dhiya Uddin Riska, Dara Ronald Adrian, Ronald Silaban, Sintiana Sudirman Sudirman Sutarno Sutarno SYAHRONI, IVAN Triana, Dini Fajar Triyanti, Dwi Erni Uliyandari, Mellyta Umaya Umaya, Umaya Wahyuningsih, Endah Tri Wardana, Rendy Wikrama wati, Devica Wikrama Whardana, Rendy Wirahayu, Maya