Design of Stable T-S Fuzzy Controller for a Nonlinear Inverted Pendulum System

Abstract

Inverted pendulum is a classic example in the field of nonlinear control theory, which can be observed in the many real world control problems. In this paper, first, a feedback linearization control method is designed and employed to make informative pair of input-output data for controlling a nonlinear inverted pendulum. Then, Based on the pair of input-output data a stable T-S fuzzy controller is designed. The fuzzy clustering method (FCM) is used as a rule extraction approach to properly generate the fuzzy-rule base. Finally, the proposed controller is applied to a nonlinear inverted pendulum system. The results demonstrate the stability, the working, and the applicability of the proposed method.