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Design of a switching controller for nonlinear systems with unknown parameters based on a fuzzy logic approach

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3 Author(s)
Lam, H.K. ; Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., China ; Leung, F.H.F. ; Lee, Y.S.

This paper deals with nonlinear plants subject to unknown parameters. A fuzzy model is first used to represent the plant. An equivalent switching plant model is then derived, which supports the design of a switching controller. It will be shown that the closed-loop system formed by the plant and the switching controller is a linear system. Hence, the system performance of the closed-loop system can be designed. An application example on controlling a two-inverted pendulum system on a cart is given to illustrate the design procedure of the proposed switching controller.

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:34 ,  Issue: 2 )