Abstract
This paper deals with nonlinear plants subject to unknown parameters. A fuzzy model is first used to represent the plant. An equivalent switching plant model is then derived, which supports the design of a switching controller. It will be shown that the closed-loop system formed by the plant and the switching controller is a linear system. Hence, the system performance of the closed-loop system can be designed. An application example on controlling a two-inverted pendulum system on a cart will be given to illustrate the design procedure of the proposed switching controller.
Original language | English |
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Pages (from-to) | 1068-1074 |
Number of pages | 7 |
Journal | IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics |
Volume | 34 |
Issue number | 2 |
DOIs | |
Publication status | Published - 1 Apr 2004 |
Keywords
- Nonlinear systems
- Switching controller
- Switching plant model
- Takagi-Sugeno-Kang (TSK) fuzzy plant model
ASJC Scopus subject areas
- Control and Systems Engineering
- Artificial Intelligence
- Human-Computer Interaction