TP model transformation based controller design for the parallel-type double inverted pendulum

Szabolcs Nagy, Zoltán Petres, Péter Baranyi

Research output: Conference contribution

3 Citations (Scopus)

Abstract

The main objective of the paper is to present a non-heuristic, mathematically well defined control design to the parallel-type double inverted pendulum. First we apply the recently proposed TP model transformation to generate a finite element convex polytopic representation, namely a Tensor Product model representation (that is equivalent with a kind of TS fuzzy model) of the derived quasi linear parameter varying model of the pendulum system. Then we apply linear matrix inequalities under the parallel distributed compensation control design framework to derive decay rate control with constrain on the control value. Since both steps are executable numerically and automatically one after other, we perform a uniform, tractable and straightforward control design to the pendulum system. In order to validate the resulting controller the paper also presents numerical simulations.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008
Pages1374-1380
Number of pages7
DOIs
Publication statusPublished - nov. 7 2008
Event2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008 - Hong Kong, China
Duration: jún. 1 2008jún. 6 2008

Publication series

NameIEEE International Conference on Fuzzy Systems
ISSN (Print)1098-7584

Other

Other2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008
CountryChina
CityHong Kong
Period6/1/086/6/08

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Artificial Intelligence
  • Applied Mathematics

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  • Cite this

    Nagy, S., Petres, Z., & Baranyi, P. (2008). TP model transformation based controller design for the parallel-type double inverted pendulum. In 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008 (pp. 1374-1380). [4630551] (IEEE International Conference on Fuzzy Systems). https://doi.org/10.1109/FUZZY.2008.4630551