| Robot technology has been developing rapidly. The form of robots has evolved into a form similar to the human body, having a head, body, hands and feet. Control system of the inverted pendulum is the basis of the control system design of a robot leg. Inverted pendulum is a system that is not stable, because the pendulum is facing upward (inverted position), which has a tendency to fall because of the pull of gravity. Therefore the inverted pendulum requires a stability control, which enables it to be in an upright stable position. The main parts in designing the inverted pendulum system are Characterization, Modeling, Simulation and Implementation. The objective of this undergraduate thesis is to simulate the inverted pendulum system using ANFIS control system as controller to the inverted pendulum. Inverted pendulum system will be modeled in the form of transfer function equation to be used in ANFIS training process and simulation process. ANFIS training process requires ANFIS training set and ANFIS initial design. ANFIS control system is designed to have three inputs: pendulum angular position, pendulum angular velocity, pendulum angular acceleration, and has one output which is voltage for DC motor. Based on the ANFIS experiment it is noted that ANFIS control system with 125 rules is the most suitable ANFIS control system for controlling inverted pendulum system. Simulation process is carried out by using ANFIS control system for controlling the stability of inverted pendulum system. The simulation results show that the ANFIS control system is able control the stability of inverted pendulum system to the limit of the initial position of the pendulum angle at 7.56°. |