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A survey on the polytopic Takagi-Sugeno approach: application to the inverted pendulum

A survey on the polytopic Takagi-Sugeno approach: application to the inverted pendulum

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This chapter gives a general scope, states the main results obtained and methods used for the polytopic Takagi-Sugeno approach with a detailed application to the inverted pendulum. Modeling, observer and controller design will be considered.

Chapter Contents:

  • Abstract
  • 12.1 Introduction
  • 12.2 Systematic transformation of a nonlinear system into a polytopic T-S form
  • 12.3 Stability analysis of polytopic T-S systems
  • 12.4 Observer design for polytopic T-S models
  • 12.4.1 Measurable premise variables
  • 12.4.2 Unmeasurable premise variables
  • 12.5 Polytopic T-S models stabilization
  • 12.5.1 State feedback stabilization
  • 12.5.1.1 Classical state feedback stabilization
  • 12.5.2 Observer-based state feedback stabilization
  • 12.5.2.1 Measurable premise variables
  • 12.5.2.2 Unmeasurable premise variables
  • 12.5.2.3 State feedback stabilization for uncertain polytopic T-S systems
  • 12.5.3 Static output feedback stabilization
  • 12.6 Conclusion
  • References

Inspec keywords: pendulums; observers; nonlinear control systems; modelling; control system synthesis

Other keywords: polytopic Takagi-Sugeno approach; controller design; inverted pendulum; observer; modeling

Subjects: Control system analysis and synthesis methods; Simulation, modelling and identification; Nonlinear control systems

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