Inverted pendulum is a system that is suitable for stability analysis and experiment. This research aims to implement stationary control system of a linear single inverted pendulum. Control system method used in this research is Adaptive Neuro-Fuzzy Inference System (ANFIS). The controller is in a computer which connected to the pendulum construction with an 89S52 microcontroller through
serial communication. An incremental rotary encoder is used as the pendulum angular position sensor. A DC motor is used as the pendulum’s cart actuator. The implementation process shows that the system response time is too slow compared
with the characterization sampling time, thus causing the system receive a late response. As the recommendations to reduce the response time, the main application should be re-compiled into another programming language with faster processing
time or move the main application directly into the microcontroller, increase the serial communication baud rate, and replace the DC motor with a with faster response motor. |