Adaptive Control of an Inverted Pendulum Using Adaptive PID Neural Network

Abstract

In this paper, a new method for adaptive control of nonlinear systems using neural networks and proportional-integral-derivative (PID) methodology is proposed. In this method, a PID control and adaptive linear neural network is used to control a inverted pendulum with uncertainties and external disturbances. The system consists of an inverted pole hinged on a cart which is free to move in the x direction. The performance of the proposed method is demonstrated via simulations.