TY - GEN
T1 - Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system
AU - Mohan, Vijay
AU - Singh, Narinder
PY - 2013
Y1 - 2013
N2 - In this paper performance of LQR and ANFIS control for a Double Inverted Pendulum system is compared. The double inverted pendulum system is highly unstable and nonlinear. Mathematical model is presented by linearizing the system about its vertical position. The analysis of the system is performed for its stability, controllability and observability. Furthermore, the LQR controller and ANFIS controller based on the state variable fusion is proposed for the control of the double inverted pendulum system and simulation results show that ANFIS controller has better tracking performance and disturbance rejecting performance as compared to LQR controller.
AB - In this paper performance of LQR and ANFIS control for a Double Inverted Pendulum system is compared. The double inverted pendulum system is highly unstable and nonlinear. Mathematical model is presented by linearizing the system about its vertical position. The analysis of the system is performed for its stability, controllability and observability. Furthermore, the LQR controller and ANFIS controller based on the state variable fusion is proposed for the control of the double inverted pendulum system and simulation results show that ANFIS controller has better tracking performance and disturbance rejecting performance as compared to LQR controller.
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U2 - 10.1109/ISPCC.2013.6663452
DO - 10.1109/ISPCC.2013.6663452
M3 - Conference contribution
AN - SCOPUS:84892516767
SN - 9781467361903
T3 - 2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013
BT - 2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013
T2 - 2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013
Y2 - 26 September 2013 through 28 September 2013
ER -