Design of fuzzy model reference adaptive controller for inverted pendulum

摘要

This paper concerned with different control strategies used to balance (control) inverted pendulum system. The often used control strategy is PID tuning, but in PID the main issue is parameter tuning according to the process parameter variation. So proposed strategy is MRAC, combination of model reference adaptive Control (MRAC) with fuzzy. The main aim is to find further improvement of traditional MRAC method and to provide more accurate control to the inverted pendulum and to minimize drawbacks of the traditional MRAC method. This is examined when combining the MRAC method with Fuzzy control. The performance of the application system is examined from the simulation results in MATLAB/SIMULINK. For showing its effectiveness, simulated results are compared with the traditional control strategies like fuzzy and MRAC. Incorporating application for inverted pendulum system, subjected to it finds the analogy with various control system applications like satellite launching system, robotic arm etc.