الفهرس 
Chapter 1 : IntroductionOnly 14 pages are availabe for public view
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Abstract
Inverted pendulum systems have been utilizing widely in engineering, conveyance, and industrial applications. The Two-Wheeled Inverted Pendulum (TWIP) is considered a challenging control problem due to its structure as a highly nonlinear and unstable system. This investigation is carried out through the realization of the introduced fuzzy controllers to a real-time experimental implementation of the TWIP system. First, a grey-box modeling approach is presented to obtain a precise model for the TWIP system. Second, three conventional fuzzy controllers were designed and tested in real-time. Third, three controllers based on Mamdani-Like fuzzy approach is introduced to control the TWIP system. Fourth, the fusion function technique is used to design two fuzzy controllers one as multi-input and the other as single-input.