Comparative Analysis of Modern Control Schemes in Improved Dynamics of Inverted Pendulum

Abstract

Inverted Pendulum is used as benchmark test in Control System Engineering. As a result, controller which shows robust performance on Inverted Pendulum should be robust for most non-linear systems. This paper presents a study of control schemes like PID, FLC and ANFIS for Inverted Pendulum. Comparative analysis of these modern control schemes on Full State Feedback (FSF) model of Inverted Pendulum is carried out to first stabilize the unstable Inverted Pendulum using LQR and then choose the satisfactory results of controllers on the basis of parameters like overshoot, rise time, settling time, control input required, disturbance rejection and reference tracking etc. MATLAB Simulation of Inverted Pendulum has been presented to compare the behavior and suitability of these control schemes.