Inverted Pendulum I
A state-feedback fuzzy controller is designed to stabilise/regulate an inverted pendulum based on a 16-rule T-S fuzzy model. The feedback gains is obtained by solving a feasible solution to a set of stability conditions in terms of linear matrix inequalities. The following movie clips show the experiments of stabilisation/regulation of inverted pendulum using the fuzzy controller.
Regulation of inverted pendulum to different angles.
Stabilisation of inverted pendulum subject to disturbance.