System identification of nonlinear Inverted Pendulum using artificial neural network

Abstract

System identification is the process of developing a mathematical model of a system using input and output knowledge of system. Identification of nonlinear system is well known problem due to its unpredictability and complexity. The nonlinear system for identification is Inverted Pendulum in this work which is well known benchmark system in control system theory due to it's highly nonlinear and unstable characteristics. In this work Lagrangian approach has been used for system dynamic modelling. Artificial neural network is utilized for model identification.