Design of Indirect Adaptive Neuro Fuzzy Controller for Inverse Pendulum

• Main Authors: Amineh Baberi, Maryam Zekri, Saeed Hosseinia
• Format: Article
• Language: English
• Published: Najafabad Branch, Islamic Azad University 2012-04-01
• Series: Journal of Intelligent Procedures in Electrical Technology
• Subjects: Feedback linearization; adaptive fuzzy; inverse pendulum; ANFIS; Stability Lyapunov
• Online Access: http://jipet.iaun.ac.ir/pdf_4407_f2a03aa88ef427f368990ec3c263f797.html

Inverted pendulum system state equations of the form of quality control standard consist two nonlinear functions. Since, ANFIS network is an universal approximator, in this paper, two ANFIS are used to model nonlinear dynamic functions of inverse pendulum. The adaptive fuzzy rules are applied, such that the feedback linearization control input can be best approximated and the closed-loop system is stable. Simulation results indicate the remarkable capabilities of the proposed control algorithm and good transient response characteristics of the output system.