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Design of Fuzzy Control System with Optimal Guaranteed Cost for Planar Inverted Pendulum

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Fuzzy Information and Engineering 2010

Part of the book series: Advances in Intelligent and Soft Computing ((AINSC,volume 78))

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Abstract

For the problem of control a planar inverted pendulum system (PIP) with non-uniform density pendulum, a design method of optimal guaranteed cost fuzzy control is developed via the parallel distributed compensation( PDC) approach. Firstly, by using the Lagrange equation, the mathematical model of the planar inverted pendulum is derived. Then, a sufficient condition for the existence of guaranteed cost fuzzy controller is presented with taking into account a given quadratic performance index, and a deviation amplitude of the center-of-mass of the rod. Finally, simulation results show the effectiveness of the proposed design method.

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Author information

Authors and Affiliations

  1. Department of Fire Protection Engineering, The Chinese People’s Armed Police Force Academy, Langfang, Hebei, 065000, P.R. China

    Miao Zhihong & Li Zhihui

  2. Department of Mathematics, Beijing Normal University, Key Laboratory of Mathematics and Complex Systems, Ministry of Education, Beijing

    Wang Jiayin

Authors
  1. Miao Zhihong
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  2. Wang Jiayin
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  3. Li Zhihui
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Editor information

Editors and Affiliations

  1. School of Mathematics and Information Science Guangzhou Higher Education Mega Center , Guangzhou University, 230Wai Huan Xi Road, ZIP 510006, Guangdong, China

    Bing-yuan Cao

  2. Shaanxi Normal University, China

    Guo-jun Wang

  3. Institute of Mathematics and Systems Science, Liaoning Technical University , 123000, China

    Si-zong Guo

  4. School of Science, Jimei University , 361021, Xiamen, Fujian, China

    Shui-li Chen

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© 2010 Springer-Verlag Berlin Heidelberg

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Zhihong, M., Jiayin, W., Zhihui, L. (2010). Design of Fuzzy Control System with Optimal Guaranteed Cost for Planar Inverted Pendulum. In: Cao, By., Wang, Gj., Guo, Sz., Chen, Sl. (eds) Fuzzy Information and Engineering 2010. Advances in Intelligent and Soft Computing, vol 78. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14880-4_19

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  • DOI: https://doi.org/10.1007/978-3-642-14880-4_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-14879-8

  • Online ISBN: 978-3-642-14880-4

  • eBook Packages: EngineeringEngineering (R0)

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