Real-time control of free-standing cart-mounted inverted pendulum using LabVIEW RT

摘要

Today's intelligent control theory is well developed to provide a genuine design technique for tackling practical control systems. Moreover, fast and powerful computers, as well as reliable and implementable software packages such as LabVIEW, has considerably reduced the computational hinderances for designing, simulating and implementing sophisticated controllers. This paper presents the implementation of an adaptive neuro-fuzzy logic control of a free-standing cart-mounted inverted pendulum using LabVIEW RT. LabVIEW Real Time (RT) is the reliable stand-alone hardware control processor and Windows independent software. The proposed algorithm shows high capabilities in learning. We show that this algorithm can be effectively applied to fast regulation of the new proposed inverted pendulum setup subjected to large disturbances or uncertainties. The experimental implementation of the algorithm on the freestanding cart-mounted inverted pendulum evaluates the effectiveness and results of the proposed algorithm and its comparative results with similar intelligent adaptive intelligent controllers.