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Design and implementation of a robust fuzzy controller for a rotary inverted pendulum using the Takagi-Sugeno descriptor representation

Abstract : The rotary inverted pendulum (RIP) is an under-actuated mechanical system. Because of its nonlinear behavior, the RIP is widely used as a benchmark in control theory to illustrate and validate new ideas in nonlinear and linear control. This paper presents a robust Takagi-Sugeno (T-S) fuzzy descriptor approach for designing a stabilizing controller for the RIP with real-time implementation. It is shown in this paper how the modeling of the physical system on descriptor T-S form with a reduced number of rules possible can lead to a simplified controller that is practically implementable. Relaxed linear matrix inequality-based stability conditions for the non quadratic case are given. Experimental results illustrate the effectiveness of the proposed approach.
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https://hal-uphf.archives-ouvertes.fr/hal-03417447
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Submitted on : Friday, November 5, 2021 - 6:13:26 PM
Last modification on : Wednesday, November 10, 2021 - 9:30:02 AM

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Quoc Viet Dang, Benyamine Allouche, Laurent Vermeiren, Antoine Dequidt, Michel Dambrine. Design and implementation of a robust fuzzy controller for a rotary inverted pendulum using the Takagi-Sugeno descriptor representation. 2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA), Dec 2014, Orlando, United States. pp.1-6, ⟨10.1109/CICA.2014.7013249⟩. ⟨hal-03417447⟩

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