Mustefa  Jibril, Messay  Tadese, Reta  Degefa, 
    Design and Control of a Vertically Moving Base Inverted Pendulum using NARMA-L2 with
Resilient Backpropagation and Levenberg Marquardt Backpropagation Training Algorithm,
    Botany Research Journal,
    Volume 13,Issue 2,
    2020,
    Pages 9-13,
    ISSN 1995-4751,
    brj.2020.9.13,
    (https://makhillpublications.co/view-article.php?doi=brj.2020.9.13)
    Abstract: In this study, 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 PI and PID
controllers are used to improve the stability of the
pendulum. Comparison of the vertically moving base
inverted pendulum using PI and PID controllers for
tracking a desired angular position of the system using a
step and random input signals and a promising results
have been obtained successfully.
    Keywords: Inverted pendulum;nonlinear autoregressive moving average L2;Toolbox;PID controllers