Swing-up and Stabilization Control of Rotary Inverted Pendulum by using LQR-based ANFIS

Abstract

RIP is a SIMO nonlinear system which has simple mechanical structure but
high nonlinear level. This is a popular model in laboratories of control automation. In this
paper, we present an ANFIS network which is developed from a former LQR
controller in stabilizing system at equilibrium point– upright position. In addition, an
energy swing-up controller is designed and tested in this paper. Simulation and
experimental results in this paper prove the abilities of these methods in balancing RIP
model.