Design of Indirect Adaptive Neuro Fuzzy Controller for Inverse Pendulum

Subject Areas : Renewable energy

Amineh Baberi ¹ (MSc/Central of Applied Sience and Technology, Jame Eslami Kargaran Esfahan)
Maryam Zekri ² (Assistant Professor/Esfahan University of Technology)
Saeed Hosseinia ³ (Assistant Professor/Najafabad Branch, Islamic Azad University)

Received: 2010-11-29 Accepted : 2011-10-13 Published : 2012-06-01

Keywords: ANFIS, Feedback linearization, adaptive fuzzy, inverse pendulum, Stability Lyapunov,

Abstract :

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.