A decision-making approach on control techniques for an inverted pendulum based on, neuro-fuzzy, indirect adaptive and PID controllers

Abstract

The operation of an inverted pendulum and its respective type of control are affected by the change of the values of its internal parameters. Changes with high uncertainty result in responses with undesirable outputs. In this work, a comparison is presented for the control of an inverted pendulum to determine the operation and characteristics of three types of control systems: Neuro-Fuzzy Control (NFC), Indirect Adaptive Control (IAC) and a Proportional Integral Derivative control (PID). The study considers several indices such as stabilization time, rise time, mean square error, overshoots, convergence, computational load, error, mathematical requirements, and performance indices for control systems. To demonstrate its operation, the controls are implemented in hardware, one for the NFC and another for the IAC under an Arduino UNO platform. The results indicate that the NFC and IAC controls do not generate a transient or impulse response, only a small delay and the rise and stabilization time are minimal. While PID presents a transient response and overshoot, as well as a stabilization time to reach the steady state response.