A T-S Fuzzy Approach with Extended LMI Conditions for Inverted Pendulum on a Cart

Authors

  • Thi Van Anh Nguyen School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Vietnam
  • Ngoc Hiep Tran School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Vietnam
Volume: 14 | Issue: 1 | Pages: 12670-12675 | February 2024 | https://doi.org/10.48084/etasr.6577

Abstract

The Inverted Pendulum On a Cart (IPOC) system poses a challenge in control engineering due to its inherent instability, nonlinearity, and underactuation. This addresses the fundamental issues arising from its underactuated nature and introduces an approach that combines Takagi-Sugeno (T-S) fuzzy control with an awareness of real-world constraints to create a control system ensuring both stability and practicality. By aligning theoretical insights with extended considerations, the Linear Matrix Inequality (LMI)-based control design is demonstrated in a comprehensive framework. Theorems are introduced and validated, leading to the derivation of LMI conditions. The simulation results are assessed with accompanying comments to demonstrate the effectiveness of the theorems. Through this integration of T-S fuzzy control with additional considerations, the paper aims to bridge the gap between theory and practical applications, advancing the field of control engineering.

Keywords:

Takagi-Sugeno fuzzy, inverted pendulum on a cart, linear matrix inequality, decay rate, constraint on the output

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How to Cite

[1]
T. V. A. Nguyen and N. H. Tran, “A T-S Fuzzy Approach with Extended LMI Conditions for Inverted Pendulum on a Cart”, Eng. Technol. Appl. Sci. Res., vol. 14, no. 1, pp. 12670–12675, Feb. 2024.

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