Rotary Inverted Pendulum And Control Of Rotary Inverted Pendulum By Artificial Neural Network

Abstract. Inverted pendulum is an unstable and highly nonlinear system. It is used as a common model for engineering applications in linear and nonlinear control. This paper presents the physical structure, the dynamic model of rotary inverted pendulum system and the method of identifying, controlling this system by an arti cial neural network (ANN). This network is a mathematical model based on the structure and the function of a biological neural network. This is a state-of-the-art method of controlling which has many advantages such as the control of nonlinear object, the ability of learning and accumulating experiences and the ability of adjusting to any change of parameters in the system.

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  October 2017

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  Rotation Around A Fixed Axis Trigonometric Functions Pendulum Artificial Neural Network Rotation