Adaptive Neuro Fuzzy Inference Structure Controller for Rotary Inverted Pendulum

This paper presents the adaptive neuro fuzzy inference (ANFIS) controller for the Rotary inverted pendulum to balance it at it's the up-right position. The steps for implementation of four input controller is presented and shown that designing of this controller is very simple and at the same time it reduces the time and space complexity of the controller. The controller and the inverted pendulum are simulated in the Mat lab Simulink environment with the help of ANFIS editor GUI. Simulation result shows that ANFIS controller is much better in comparison to conventional PID and Fuzzy logic controller in terms of settling time, overshoot and parameter variation.