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Design of Optimal Cost Fuzzy Controller for Spatial Double Inverted Pendulum System

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Fuzzy Engineering and Operations Research

Part of the book series: Advances in Intelligent and Soft Computing ((AINSC,volume 147))

Abstract

For a spatial double inverted pendulum system, a design method of optimal cost fuzzy controller is developed via the parallel distributed compensation( PDC) approach. Firstly, by using the Lagrange equation, the mathematical model of the spatial double inverted pendulum is derived. Then, a sufficient condition for the existence of optimal cost fuzzy controller is presented with taking into account the ratio between the lengths of two pendulums, and it is formed in terms of linear matrix inequalities. Under a certain cost function, the best ratio between the lengths of two pendulums is solved by this method.

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Author information

Authors and Affiliations

  1. Department of Fire Protection Engineering, The Chinese People’s Armed Police Force Academy, Langfang, Hebei, 065000, China

    Zhi-hong Miao & Zhi-hui Li

  2. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, 116024, China

    Yong-li Zhang & Hong-xing Li

Authors
  1. Zhi-hong Miao
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  2. Zhi-hui Li
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  3. Yong-li Zhang
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  4. Hong-xing Li
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Corresponding author

Correspondence to Zhi-hong Miao .

Editor information

Editors and Affiliations

  1. School of Mathematics and, Information Science, Guangzhou University, Wai Huan Xi Road, Guangdong, 510006, China, People's Republic

    Bing-Yuan Cao

  2. , School of Science, Southwest Petroleum University, Xindu Avenue 8#, Chengdu, 610500, China, People's Republic

    Xiang-Jun Xie

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© 2012 Springer-Verlag Berlin Heidelberg

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Miao, Zh., Li, Zh., Zhang, Yl., Li, Hx. (2012). Design of Optimal Cost Fuzzy Controller for Spatial Double Inverted Pendulum System. In: Cao, BY., Xie, XJ. (eds) Fuzzy Engineering and Operations Research. Advances in Intelligent and Soft Computing, vol 147. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28592-9_13

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  • DOI: https://doi.org/10.1007/978-3-642-28592-9_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-28591-2

  • Online ISBN: 978-3-642-28592-9

  • eBook Packages: EngineeringEngineering (R0)

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