Parallel distributed compensation of nonlinear systems by Takagi-Sugeno fuzzy model

We present a design methodology for stabilization of a class of nonlinear systems. First, we approximate a nonlinear plant with a Takagi-Sugeno fuzzy model. Then a model-based fuzzy controller design utilizing the concept of so-called "parallel distributed compensation" is employed. The design procedure is conceptually simple and straightforward. The method is illustrated by application to the problem of balancing an inverted pendulum on a cart.<
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