Robust fuzzy control for inverted pendulum with model uncertainty and output constraint via LMI stability analysis

This paper presents a robust controller design method for inverted pendulum with model uncertainty and output constraint via Particle Swarm Optimization (PSO) and Takagi-Sugeno (T-S) fuzzy control approach. First, the T-S fuzzy model is established for the inverted pendulum. According to the concept of parallel distributed compensation, LMI stability conditions are proposed to guarantee the T-S fuzzy control system designed via PSO is globally stable. The PSO-based T-S fuzzy controllers are designed such that the inverted pendulum is robust against model uncertainty under output constraint. Three examples demonstrate the effectiveness of this design.