Modelling and control of a non-linear inverted pendulum using an adaptive neuro-fuzzy controller

Abstract

The inverted pendulum system is a benchmark system for testing the performance of different control algorithms. Since it is a non-stable system, a continuously corrected mechanism is needed to move the cart in a certain way in order to balance the pendulum and prevent it from falling due to gravity. In this paper, a four-input adaptive neuro-fuzzy controller is used to control the system in a short time. The controller is implemented in MATLAB Simulink and its performance was compared with the Sugeno-type fuzzy controller. It is found that the Adaptive Neuro-fuzzy controller provides better performance as it has almost no overshoot compared to the Sugeno-type controller. Moreover, its execution time is much less than the time needed for the Sugeno-type fuzzy controller.