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Design of fuzzy controllers for uncertain nonlinear systems using

stability and robustness analyses
F.H.F. Leung, H.K. Lam, P.K.S. Tam

Abstract
This paper analyzes the stability and robustness of uncertain nonlinear systems and shows
that the analysis results provide an efficient technique for the design of fuzzy controllers.
Based on a fuzzy plant model describing an uncertain nonlinear plant, this design involves the
derivation of a stability criterion and a robust area in the uncertain parameter space in terms
of some measures of the closed-loop control system matrices. An application example on
balancing an inverted pendulum is given to illustrate the simple design methodology, the
stability and the robustness of the feedback system incorporated with the proposed fuzzy
controller.
Link
http://www.sciencedirect.com/science/article/pii/S0167691198000589

Fuzzy controller synthesis for an inverted pendulum system

S. Yurkovich , M. Widjaja

Abstract
A frequently discussed issue in the use of fuzzy systems for control design is related to the ad
hoc nature by which controller synthesis is performed, where incorporation of the designer's
knowledge into the synthesis procedure is often not straightforward. This paper describes a
controller synthesis procedure based on the idea of expanding the usable region of a linear
control design technique. Comparative analyses are carried out via implementation of swingup and balancing control for a rotational inverted pendulum system. For the complete control
problem, the paper focuses on three aspects of fuzzy control in the overall control design:
direct, supervisory, and auto-tuning fuzzy control. For swing-up control, an energy pumping
strategy, enhanced by introducing a fuzzy supervisory mechanism, is utilized. For balancing
control, an LQR-based linear control strategy, valid in the linear region of operation of the
pendulum, is generalized to a nonlinear direct fuzzy control design. For improved
performance when modeling uncertainties affect controller performance, a new scheme is
developed, again based on the LQR design, which is a simple yet effective auto-tuned fuzzy
controller, having the capability to vary its resolution on-line. All controllers are tested on an
experimental apparatus, and performance comparisons are drawn.
Link
http://www.sciencedirect.com/science/article/pii/0967066196000263

A stability approach to fuzzy control design for nonlinear systems

Abstract
By the application of fuzzy set theory, a method for feedback control of nonlinear systems
based on the principle of sliding mode control is developed, called fuzzy sliding mode control.
The control method provides a simple way to achieve asymptotic stability of the systems.
Other attractive features of the method include a minimal realization of the fuzzy controller
and robustness against model uncertainties and external disturbances. In addition, the
method is capable of handling the chattering problem inherent to sliding mode control simply
and effectively. A simulation study of an inverted pendulum system is presented to
demonstrate these features of the method. Also, it is indicated that the method is easy to use
for practicing control engineers.
Link
http://www.sciencedirect.com/science/article/pii/0165011492903433

Stabilization fuzzy control of inverted pendulum systems

J Yi, , N Yubazaki

Abstract
A new fuzzy controller for stabilization control of inverted pendulum systems is presented
based on the Single Input Rule Modules (SIRMs) dynamically connected fuzzy inference
model. The fuzzy controller has four input items, each with a SIRM and a dynamic importance
degree. The SIRMs and the dynamic importance degrees are designed such that pendulum
angular control has priority over cart position control. It is made clear that the fuzzy controller
performs the pendulum angular control and the cart position control in parallel, and switching
between the two controls is realized by automatically tuning the dynamic importance degrees
according to control situations. The simulation results show that the proposed fuzzy controller
has a high generalization ability to stabilize completely a wide range of the inverted pendulum
systems within 9.0 s for an initial angle up to 30.0.
Link
http://www.sciencedirect.com/science/article/pii/S0954181000000078