Lmi Lyapunov Based Ts Fuzzy Modeling And Controller Synthesis For A Nonlinear Ball And Beam System
Takagi-Sugeno (TS) fuzzy modeling and control techniques are applied to the classical nonlinear Ball and Beam problem. The nonlinear model is segmented to different local linear models. Local controllers are hence designed using LMI theory for achieving a robust control behavior for ball position. TS fuzzy modeling is applied to generate suitable fuzzy models, and the associated controllers. Using fuzzy if-then, a model knowledge based fuzzy control is then designed to regulate the original system response and behavior while relying on LMI-Lyapunov stability synthesis technique. That was achieved while interfacing the Ball and Beam system with fuzzy Gain Scheduling mechanism coding. For validating such control methodology, fuzzy control system has been synthesized and implemented practically.
Keywords- Takagi-Sugeno (TS) Fuzzy Modeling, LMI, Lyapunov Stability, Nonlinear Dynamics.