Takagi-Sugeno Model-Based Control with Observer Design for Disturbance Rejection and Input Constraints in Rotary Inverted Pendulum Systems

Ngoc-Linh  Tao; Bao-Trung  Dong; Thi-Van-Anh  Nguyen

doi:10.6180/jase.202601_29(1).0015

Takagi-Sugeno Model-Based Control with Observer Design for Disturbance Rejection and Input Constraints in Rotary Inverted Pendulum Systems

Electrical Engineering Mechanical Engineering

Ngoc-Linh Tao¹, Bao-Trung Dong², and Thi-Van-Anh Nguyen²This email address is being protected from spambots. You need JavaScript enabled to view it.

¹School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam

²School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi 100000, Vietnam

Received: January 15, 2025
Accepted: April 7, 2025
Publication Date: May 9, 2025

Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Download Citation: ||https://doi.org/10.6180/jase.202601_29(1).0015

This paper proposes a Takagi-Sugeno (T-S) model-based control strategy for the Rotary Inverted Pendulum (RIP) system to address nonlinear dynamics, disturbance rejection, and input constraints. By utilizing the T-S fuzzy framework, the nonlinear system is approximated with a set of linear submodels weighted by membership functions, allowing the application of linear matrix inequality (LMI)-based techniques for controller and observer design. A robust observer is developed to estimate unmeasured states in real-time, enabling the controller to achieve performance comparable to full-state feedback systems, even under disturbances. The controller incorporates disturbance rejection mechanisms and explicitly enforces input constraints, ensuring stability. Simulation results demonstrate the effectiveness of the proposed strategy, achieving stabilization, accurate state estimation, and compliance with input constraints. These results confirm the potential of the T-S fuzzy framework as an efficient approach for controlling nonlinear systems like the RIP.

Keywords: Takagi-Sugeno fuzzy model; disturbance rejection; input constraints; observer design; nonlinear control

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