Optimal Control of a Ball and Beam Nonlinear Model Based on Takagi-Sugeno Fuzzy Model
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.
KeywordsBall and beam Takagi-Sugeno model State model Linear Quadratic Regulator Duality theorem
This work is funded by Spanish Ministry of Economy and Competitiveness (Assisted Navigation through Natural Language (NAVEGASE) project 265 (DPI 2014-53525-C3-1-R)).
- 1.AMIRA GmbH: BW500 Laboratory Setup Ball and Beam. Deutschland, Germany (1999)Google Scholar
- 2.Ballesteros, J., Rodriguez, D., Sanchez, L., Castillo, F., Payo, I.: Teaching-learning model based on the design of didactic equipment for laboratory practices in engineering schools. In: Proceedings of EDULEARN16 Conference, Barcelona, Spain, 4–6 July 2016Google Scholar