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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic


eISSN: 1178-5608



VOLUME 9 , ISSUE 2 (June 2016) > List of articles


Ashwani Kharola *

Keywords : PID, ANFIS, fuzzy logic, inverted pendulum, Matlab, simulink.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 9, Issue 2, Pages 616-636, DOI: https://doi.org/10.21307/ijssis-2017-887

License : (CC BY-NC-ND 4.0)

Received Date : 28-December-2015 / Accepted: 08-March-2016 / Published Online: 01-June-2016



The objective of this study is to present an offline control of highly non-linear inverted pendulum system moving on a plane inclined at an angle of 10° from horizontal. The stabilisation was achieved using three different soft-computing control techniques i.e. Proportional-integral-derivative (PID), Fuzzy logic and Adaptive neuro fuzzy inference system (ANFIS). A Matlab-Simulink model of the proposed system was initially developed which was further simulated using PID controllers based on trial and error method. The ANFIS controller were trained using data sets generated from simulation results of PID controller. The ANFIS controllers were designed using only three membership functions. A fuzzy logic control of the proposed system is also shown using nine membership functions. The study compares the three techniques in terms of settling time, maximum overshoot and steady state error. The simulation results are shown with the help of graphs and tables which validates the effectiveness of proposed techniques.

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