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Design of a Hybrid Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for Position and Angle control of Inverted Pendulum (IP) Systems

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  • Ashwani Kharola

    (Institute of Technology Management (ITM), Defence Research and Development Organisation (DRDO), Mussoorie, India)

Abstract

This paper illustrates a comparison study of Fuzzy and ANFIS Controller for Inverted Pendulum systems. IP belongs to a class of highly non-linear, unstable and multi-variable systems which act as a testing bed for many complex systems. Initially, a Matlab-Simulink model of IP system was proposed. Secondly, a Fuzzy logic controller was designed using Mamdani inference system for control of proposed model. The data sets from fuzzy controller was used for development of a Hybrid Sugeno ANFIS controller. The results shows that ANFIS controller provides better results in terms of Performance parameters including Settling time(sec), maximum overshoot(degree) and steady state error.

Suggested Citation

  • Ashwani Kharola, 2016. "Design of a Hybrid Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for Position and Angle control of Inverted Pendulum (IP) Systems," International Journal of Fuzzy System Applications (IJFSA), IGI Global, vol. 5(1), pages 27-42, January.
    • Handle: RePEc:igg:jfsa00:v:5:y:2016:i:1:p:27-42
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