Pendulum Position Based Fuzzy Regulator of the Furuta Pendulum - A Stable Closed-Loop System Design Approach

This paper reports the design of a Mamdani type fuzzy controller to solve the regulation problem of a Furuta pendulum. The fuzzy rule-base is designed following the fuzzy Lyapunov synthesis, allowing to guarantee stability of the closed-loop system equilibrium point, minimizing heuristics in the fuzzy controller design stage. An important result of this paper is that the dynamic model of the Furuta pendulum it is not necessary in the design process and only angular position of the pendulum is available for measurements.

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