  Complexity and nonlinear behaviours of inverted pendulum system make its
control design a very challenging task. In this paper, a hybrid fuzzy adaptive
control system using model reference approach is designed for inverted-pendulum
system control. The proposed method is developed to achieve position control
and later simultaneous control of position and pendulum angle in the same
control loop. Also, the control algorithm is applied to achieve control
objective of reference tracking, disturbance rejection and robustness to
parameter variation. The performance of the proposed control scheme was
compared with conventional PID and LQR controllers. The simulation results
showed that the proposed control scheme provides high-performance dynamic
characteristics and is robust with regard to parametric variations, disturbance
and reference tracking compared to the comparatives
