Inverted Pendulum Control System Based on PID Neural Network

The inverted pendulum is a high order,unstable and nonlinear system and is a typical research object for modern control field.The PID (proportional-integral-derivative) neural network is a spechial network in which the proportional neurons,the integral neurons and the derivative neurons are included.The inverted pendulum control system based on PID neural network was introduced, including the algorithm,the structure and the initial values of the weights of the PID neural networks.The PID neural network was compared with conventional PID controller in the experiments.It is proved that PID neural control system has better dynamic and static performance.