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This paper develops fuzzy method for control of the rotary inverted pendulum (RIP) using linear fusion function based on LQR mapping. The research is focused on how to solve the problem of “rule explosion”. By using fusion, the output variables of the system with four dimensions are synthesized as two variables: error and variation of error. The method is applied to the approximate linear model, and the experimental results show that the system's response rate is well improved and the robustness is also enhanced.