Switched Control and Tracking Application in Aeropendulum System using Fuzzy Models

Switched robust controllers are presented and applied to an aeropendulum system made at the Control Research Laboratory from DEE-FEIS-UNESP in Brazil. The system has nonlinear dynamics and it is approximated by Takagi-Sugeno fuzzy systems using linear local models for different operation points. Integrators are used in implementation to eliminate the steady-state error. The method consists of including a new state space variable in the system in order to obtain zero steady-state error. The switched control eliminates the need of finding the membership functions which are used to combine the local linear models of the Takagi-Sugeno fuzzy system. It is based on the minimization of the time derivative of the Lyapunov function and it is designed by means of linear matrix inequalities. Actuator saturation is also considered for the design of the controllers. At the end, implementations of the aforementioned controllers in the aeropendulum systems are presented considering the specifications of the decay rate and norm constraints of the controller gains.