Using Fuzzy Controllability Property in Robust Controller Designing for a Class of T-S Fuzzy Model

Authors

1 Electrical Engineering Faculty, Najafabad Branch, Islamic Azad University, Najafabad, Iran

2 Digital Processing and Machine Vision Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran

Abstract

Sincemost of the systems in real world are nonlinear and include uncertainty in their nature, robust controller designing is one of the most important challenges for engineers. Controller designing for such systems is usually complicate with high computational cost. In contrast to this, state feedback controller designing, based on well-known Ackermann’s formula, has simplicity in designing and application although global states controllability should be considered seriously. The aim of this paper is to design a state feedback controller for nonlinear inverted pendulum with uncertainty which close loop system has global asymptotically stability. For this reason, controllability property for nonlinear systems has been analyzed based on TS- Fuzzy model. In the existence of uncertainty, controllability property might be failed. In this case to handle the uncertainties in the systems, sufficient conditions have been investigated to guarantee the local and global controllability conditions and also global stability conditions. The advantage of this method is simplicity in implementation comparing to other complicated controllers.

Keywords

References

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