Model reference adaptive control and fuzzy model reference learning control for the inverted pendulum. comparative analysis

Authors:
Adrian-Vasile Duka;Stelian Emilian Oltean;Mircea Dulau
Affiliations:
Department of Electrical Engineering, "Petru Maior" University, Romania;Department of Electrical Engineering, "Petru Maior" University, Romania;Department of Electrical Engineering, "Petru Maior" University, Romania
Venue:
CONTROL'05 Proceedings of the 2005 WSEAS international conference on Dynamical systems and control
Year:
2005

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Abstract

The Inverted Pendulum is one of the most important classical problems of Control Engineering. Broom Balancing (Inverted Pendulum, pole on a cart) is a well known example of nonlinear, unstable control problem. The basic control objective of the inverted pendulum problem is to maintain the unstable equilibrium position, by controlling the force applied to the mobile cart in the horizontal direction. In this paper we provide a comparative analysis of two model reference adaptive control (MRAC) methods, the first one based on the stability theory of Lyapunov and the other one based on fuzzy logic (FMRLC - Fuzzy Model Reference Learning Control). The performances of the proposed control algorithms are evaluated and shown by means of digital simulation.