Control of Inverted Pendulum System Using a Neuro-Fuzzy Controller for Intelligent Control Education

This article presents the implementation of control of an inverted pendulum system by using the neuro-fuzzy network. The inverted pendulum system has been built in the educational kit whose purpose is to educate control engineers in both undergraduate students and graduate students. The inverted pendulum system is known as a nonlinear system whose goal is to maintain the balance of the pendulum while tracking a desired position of the cart. The Takagi-Sugeno(T-S) neuro-fuzzy control scheme is used to control the system. The back propagation learning algorithm for the T-S neuro-fuzzy network is derived for on-line learning and control. The control algorithm has been embedded on a DSP 2812 board to achieve the real-time control performance. Experimental results show that successful control performances of both balancing and tracking the position for the inverted pendulum system.