Paper Title
Performance Comparison Between LQR And ANFIS Controller Of An Inverted Pendulum System
Abstract
Inverted pendulum is a nonlinear and unstable dynamic system, thus providing a challenge to control engineers
to stabilize it. This paper investigates the performance of few different control approaches that consist of modern and
intelligent controllers. It involves the derivation of the mathematical modeling that includes the linearization of the model in
order to be used with the linear controller. The works followed with designing those controllers and simulating it in
MATLAB. After analyzing each controller performance, it can be observed that control strategies meet the design criteria.
Overall, LQR controller has the best response, whereas fuzzy controller based on fusion function gives more flexibility in
control action.
Index Terms—Fusion function, Fuzzy logic controller, LQR controller, Modeling