Abstract
AbstractStabilizing an inverted pendulum means keeping the pendulum in vertical position by using a suitable control scheme. In this paper, adaptive neuro fuzzy inference system (ANFIS) controllers have been designed for stabilizing a linear inverted pendulum. The dataset for the proposed controllers is obtained by using PID controllers proposed in the literature for different values of pendulum masses. This dataset is then used for designing ANFIS controllers for regulating the position of the cart as well as pendulum angle with respect to vertical axis. The proposed scheme is implemented using Matlab Simulink and shows robust performance for varying pendulum mass and frictional forces.KeywordsInverted pendulumRobustnessStabilizationANFIS controller
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