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All Journal Journal of Fuzzy Systems and Control (JFSC)
Pham, Truong-Phuong-Nam
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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An LQR-Based ANFIS Control for Double-Linked Inverted Pendulum on Cart Pham, Truong-Phuong-Nam; Tran, Trong-Bang; Nguyen, Van-Dong-Hai; Nguyen, Tai-Tue; Nguyen, Gia-Thinh; Nguyen, Duy-Phat; Nguyen, Dong-Khang; Ha, Van-An; Trinh, The-Nam-Chau; Nguyen, Trung-Thang
Journal of Fuzzy Systems and Control Vol. 3 No. 2 (2025): Vol. 3, No. 2, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i2.307

Abstract

This paper presents a double-linked inverted pendulum on a cart system, which is highly nonlinear and inherently unstable. In the simulation, the state variable outputs are processed through three ENCODER blocks with a resolution of 1000 pulses, as we aim to develop a mathematical model that closely approximates real-world experiments. The objective of this study is to use an ANFIS controller to learn from data that closely resembles the actual system behavior under an LQR controller and apply it in a simulation environment to evaluate the stability and response of the system under both ANFIS and LQR controllers. The results show that the ANFIS controller provides better responses than the LQR controller.
Co-Authors Do, Ngoc-Huy Ha, Van-An Le, Thi-Hong-Lam Lieu, Vinh-Hung Nguyen, Binh-Hau Nguyen, Dong-Khang Nguyen, Duy-Phat Nguyen, Gia-Thinh Nguyen, Minh-Khoa Nguyen, Tai-Tue Nguyen, Thanh-Binh Nguyen, Thi-Ngoc-Thao Nguyen, Trung-Thang Nguyen, Van-Dong-Hai Nguyen, Van-Hiep Tran, Trong-Bang Trinh, The-Nam-Chau