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

• Published in: Journal of Applied Science and Engineering Vol. 29; no. 1; pp. 151 - 160
• Main Authors: Ngoc-Linh Tao, Bao-Trung Dong, Thi-Van-Anh Nguyen
• Format: Journal Article
• Language: English
• Published: Tamkang University Press 2026
• Subjects: disturbance rejection; input constraints; nonlinear control; observer design; takagi-sugeno fuzzy model

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...