Efficient Control of Rotary Inverted Pendulum Systems with T-S Fuzzy Descriptor Models

This research addresses the challenge of controlling rotary inverted pendulum systems, which are inherently unstable and nonlinear. We propose a control approach that integrates the Takagi-Sugeno (T-S) fuzzy descriptor system with Parallel Distributed Compensation (PDC) and Linear Matrix Inequalities (LMIs). The T-S fuzzy control system offers a flexible and adaptive means of managing complex dynamics by partitioning the system into multiple operating regions using fuzzy sets and linguistic rules. Stability theorems and decay rate analysis ensure robust and rapid convergence to stability performance. PDC facilitates the design of control strategies for systems with multiple subsystems, broadening the applicability of our proposed methodology. This research promises to advance the field of rotary inverted pendulum control, with potential applications in robotics, automation, and mechatronics, where precise and agile control is imperative in the face of inherent instability.