Abstract
Balancing inverted pendulum along a vertical position with or without cart is a benchmark control problem owing to the fact that out of two equilibrium points, inverted one is open-loop unstable. In this paper, an attempt has been made to stabilize the system with delayed state feedback control strategy using T-S fuzzy modeling in an linear matrix inequality (LMI) framework. Then, by Lyapunov–Krasovskii (L-K) theory, it is proved that the closed-loop system is locally asymptotically stable around its unstable equilibrium point. The result of the control design is validated through closed-loop simulation carried out in MATLAB Simulink.
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Datta, R., Dey, R., Bhattacharya, B., Chakrabarti, A. (2019). Delayed State Feedback Controller Design for Inverted Pendulum Using T-S Fuzzy Modeling: An LMI Approach. In: Deb, D., Balas, V., Dey, R. (eds) Innovations in Infrastructure. Advances in Intelligent Systems and Computing, vol 757. Springer, Singapore. https://doi.org/10.1007/978-981-13-1966-2_6
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DOI: https://doi.org/10.1007/978-981-13-1966-2_6
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