Adaptive Control of an Inverted Pendulum Using Adaptive PID Neural Network

@article{Fallahi2009AdaptiveCO,
  title={Adaptive Control of an Inverted Pendulum Using Adaptive PID Neural Network},
  author={Mohsen Fallahi and Sassan Azadi},
  journal={2009 International Conference on Signal Processing Systems},
  year={2009},
  pages={589-593}
}
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 uncertainities 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. 

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