TY  - JOUR
AU  - Saifizul, A. A. 
AU  - Zainon, Z. 
AU  - Osman, N. A.Abu 
AU  - Azlan, C. A. 
AU  - Ibrahim, U. F.S.Ungku 
PY  - 2006
TI  - Intelligent Control for Self-erecting Inverted Pendulum Via Adaptive Neuro-fuzzy Inference System 
JF  - American Journal of Applied Sciences
VL  - 3
IS  - 4
DO  - 10.3844/ajassp.2006.1795.1802
UR  - https://thescipub.com/abstract/ajassp.2006.1795.1802
AB  - A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pendulum in the unstable position. To deal with this system, a lot of control techniques have been used on the basis of linearized or nonlinear model. In real-time implementation, a real inverted pendulum system has state constraints and limited amplitude of input. These problems make it difficult to design a swing-up and a stabilization controller. In this paper, first, the mathematical models of cart and single inverted pendulum system are presented. Then, the Position-Velocity controller is designed to swing-up the pendulum considering physical behavior. For stabilizing the inverted pendulum, a Takagi-Sugeno fuzzy controller with Adaptive Neuro-Fuzzy Inference System (ANFIS) architecture is used to guarantee stability at unstable equilibrium position. Experimental results are given to show the effectiveness of these controllers.