Design and validation of Real Time Neuro Fuzzy Controller for stabilization of Pendulum-Cart System
Tharwat O. S. Hanafy · 2011
This paper presents an application of how to design and validate a real time neuro fuzzy controller of complex a nonlinear dynamic system using the Matlab-Simulink Real-Time Workshop environment. Once the controller is obtained and validated by simulation, it's implemented to control the pendulum-cart system. Design of a neuro fuzzy controller is considered in this work because of its insensitivity to disturbances and uncertainties of model parameters. The design and optimization process of neuro fuzzy controller are based on an extended learning technique derived from adaptive neuro fuzzy inference system (ANFIS). The design and implementation of this pendulum-cart control system has been realized under MATLAB/SIMULINK environment. The experimental results demonstrate the efficiency of this design procedure and the ensured stability of the system. (Tharwat O. S. Hanafy. Design and validation of Real Time Neuro Fuzzy Controller for stabilization of