Experimental study of optimal Takagi Sugeno fuzzy controller for rotary inverted pendulum

This paper presents an experimental study of optimal Takagi Sugeno (TS) fuzzy controller for a rotary inverted pendulum. A TS fuzzy model of the simplified plant is first constructed using sector nonlinearity approach. A guaranteed cost TS fuzzy PDC optimal controller is then designed using LMI toolbox of MATLAB. The designed controller is experimentally evaluated on a ‘Quanser Qube Servo’ platform where it is compared with linear optimal controller which is also designed using LMI toolbox of MATLAB under the same design conditions. It is shown that TS fuzzy optimal controller shows better performance even though it is designed based on a simplified plant model.