Performance Comparison Between LQR And ANFIS Controller Of An Inverted Pendulum System
Inverted pendulum is a nonlinear and unstable dynamic system, thus providing a challenge to control engineers to stabilize it. This paper investigates the performance of few different control approaches that consist of modern and intelligent controllers. It involves the derivation of the mathematical modeling that includes the linearization of the model in order to be used with the linear controller. The works followed with designing those controllers and simulating it in MATLAB. After analyzing each controller performance, it can be observed that control strategies meet the design criteria. Overall, LQR controller has the best response, whereas fuzzy controller based on fusion function gives more flexibility in control action.
Index Terms—Fusion function, Fuzzy logic controller, LQR controller, Modeling