DESIGN OF VARIOUS CONTROLLERS FOR STABILIZATION OF INVERTED PENDULUM

Abstract

The Inverted Pendulum system has the property of instability, higher order, multivariable, and highly coupled, which can be treated as a typical non-linear control problem. The main aim of this research work is to stabilize the pendulum angle and cart position of Inverted Pendulum using conventional and various intelligent control techniques in the presence of parameter variations and external disturbances. Firstly, conventional PID controller has been designed for the IP and is simulated in the MATLAB software to check the performance in terms of settling time and overshoot. As the results shown in chapter 8, PID controller is not able to stabilize the non-linear model of IP satisfactorily. Then, Fuzzy control technique has been studied and applied to control the Inverted Pendulum. Problems of Fuzzy controller design have been overcome by using Neuro-Fuzzy hybrid approach, called ANFIS. Then, learning and generalizing capabilities of Neural Network has been explored. Finally, RBFN controller has been proposed for the non-linear model of Inverted Pendulum in the presence of parameter variations and external disturbances. In the last, comparisons among various controllers have been made. The simulation results of all controllers using MATLAB Programming are present in chapter eight.