Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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T-S Fuzzy Model-Based Control of a Rotary-Type Inverted Pendulum

회전형 역진자 시스템의 T-S 퍼지모델 기반 제어

  • Lee, Hee-Jung (School of Electronics Engineering, Ajou University) ;
  • Hong, Suk-Kyo (School of Electronics Engineering, Ajou University)
  • 이희정 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부)
  • Published : 2005.07.18
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Abstract

This paper presents an experiment study on the control of a rotary-type inverted pendulum based on the Takagi-Sugeno (T-S) fuzzy model approach. A sufficient condition for stability of the T-S fuzzy control system is given via linear matrix inequalities (LMIs). State-feedback controllers for sub-systems are designed from the sufficient condition via change of variables which is one of the popular LMI techniques. Experimental results on a rotary-type inverted pendulum control show the feasibility of the T-S fuzzy model-based control method.

Keywords