Optimal Control of a Ball and Beam Nonlinear Model Based on Takagi-Sugeno Fuzzy Model.

José Miguel Adánez,Basil Mohammed Al-Hadithi,Agustín Jiménez,Fernando Matía

ADVANCES IN FUZZY LOGIC AND TECHNOLOGY 2017, VOL 1（2018）

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摘要

In this work, an improved approach for Takagi-Sugeno system identification is used. Linear Quadratic Regulator is applied for an optimal state feedback. Duality theorem and Linear Quadratic Regulator is applied for an optimal state estimation. Simulation results over the ball and beam nonlinear model show a stable closed loop in the full range and good transient response.

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关键词

Ball and beam,Takagi-Sugeno model,State model,Linear Quadratic Regulator,Duality theorem

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