A Fuzzy-Descriptor-System-Based Control Design Methodology for Rotary Inverted Pendulum

This paper presents a control design methodology for rotary inverted pendulum based on a fuzzy descriptor system. In this methodology, the nonlinear dynamics of the rotary inverted pendulum is exactly presented by a fuzzy descriptor system. After that, based on the fuzzy descriptor system and applying the Lyapunov stability theorem, a decay rate fuzzy control design is proposed for stabilizing the rotary inverted pendulum. Furthermore, for practical application, the constraint of input voltage is also considered in the control design. The control design is represented in terms of linear matrix inequality (LMI) conditions which can be efficiently solved by the LMI solvers of MATLAB Robust Control Toolbox. Finally, simulation and experiment results are provided to demonstrate the effectiveness of the proposed fuzzy-descriptor-system-based control design methodology.