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This paper illustrates a Comparative study of highly non-linear, complex and multivariable Inverted Pendulum (IP) system on Cart using different soft computing techniques. Firstly, a Fuzzy logic controller was designed using triangular and trapezoidal shape Membership functions (MF's). The trapezoidal fuzzy controller shows better results in comparison to triangular fuzzy controller. Secondly, an Adaptive neuro fuzzy inference system (ANFIS) controller was used to optimize the results obtained from trapezoidal fuzzy controller. Finally, the study illustrates the effect of variation in shape of MF's on Performance parameters of the IP system. The results shows that ANFIS controller provides better results in comparison to both fuzzy controller.

A Comparative Analysis of Fuzzy Based Hybrid Anfis Controller for Stabilization and Control of Nonlinear Systems