Control of inverted pendulum using adaptive neuro fuzzy inference structure (ANFIS)

This paper addresses some of the potential benefits of using ANFIS controllers to control an inverted pendulum system. The stages of the development of a four input Adaptive-neuro fuzzy inference structure (ANFIS)model were presented. The main idea of this paper is to implement and optimized neuro-fuzzy logic control algorithms in order to balance the inverted pendulum and at the same time reducing the computational time of the controller. In this work, the inverted pendulum system was modeled and constructed using Simulink and the performance of the proposed ANFIS controller is compared to the more commonly used PID controller through simulations using Matlab. Simulation results show that the ANFIS Controllers are far more superior compared to PID controllers in terms of overshoot, settling time and response to parameter changes.