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      Design and Control of a Vertically Moving Base Inverted Pendulum using NARMA-L2 with Resilient backpropagation and Levenberg Marquardt backpropagation Training Algorithm

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            Abstract

            In this paper, a vertically moving base inverted pendulum control analysis has been done using Matlab/Simulink Toolbox. Because the vertically moving base inverted pendulum system is nonlinear and highly unstable, a feedback control system is used to make the system controlled and stable. A nonlinear autoregressive moving average L2 controller which is a family of Neural Network controller is used with Resilient backpropagation and Levenberg Marquardt backpropagation Training Algorithm to improve the stability of the pendulum. Comparison of the vertically moving base inverted pendulum using NARMA-L2 with Resilient backpropagation and Levenberg Marquardt backpropagation Training Algorithm for tracking a desired angular position of the system using a step and random input signals and a promising results have been obtained succesfully.

            Content

            Author and article information

            Journal
            ScienceOpen Preprints
            ScienceOpen
            27 July 2020
            Affiliations
            [1 ] School of Electrical and Computer Engineering
            Article
            10.14293/S2199-1006.1.SOR-.PPVNR50.v1
            b0500a8a-3b43-4365-b268-4377b51946bb

            This work has been published open access under Creative Commons Attribution License CC BY 4.0 , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Conditions, terms of use and publishing policy can be found at www.scienceopen.com .

            Engineering

            Inverted pendulum, Nonlinear autoregressive moving average L2

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