Design of NARMA L-2 Control of Nonlinear Inverted Pendulum
Journal Title: International Research Journal of Applied and Basic Sciences - Year 2016, Vol 10, Issue 6
Abstract
An inverted pendulum is a pendulum which has its center of mass above its pivot point. It is usually applied with the pivot point mounted on a cart that can move horizontally and may be called a cart and pole. The inverted pendulum problem is one of the classic and commonly used problem in the control engineering field. In this paper a nonlinear technique based on NARMA L2 neuro-controller is applied to control a nonlinear inverted pendulum. Inverted pendulum is oscillated from its unaffected position and stabilized at the desired position. The presented NARMA L2 controller is first trained to eliminate both the nonlinearity and dynamic of the inverted pendulum. Then, it is used as a controller. Thie proposed method is successfully applied to control the inverted pendulum. Matlab is used to simulate and analysis the performance of the control schemes. The simulation results shows the advantage of the proposed NARMA L2 method.
Authors and Affiliations
Mehdi Ramezani| Department of Electrical Engineering, University of Tafresh, Tafresh, Iran., Mahmood Mohseni Motlagh*| Department of Electrical Engineering, University of Tafresh, Tafresh, Iran. email: s_mahmood_mohseni@yahoo.com
Keywords
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