Diseño e implementación de cuatro controladores, dos de ellos basados en el modelo linealizado del sistema, y, uno óptimo y otro robusto, basados en el modelo borroso Takagi-Sugeno (T-S); aplicados sobre el péndulo invertido rotacional Quanser de la plataforma NI ELVIS (ROTPEN)

Abstract

This work is done on a rotational inverted pendulum that is an unstable system of highly non-linear dynamics; in such a way that to act on this system it is necessary to design controllers that can react adequately to external disturbances and modeling uncertainties. In this context, the objective of this work is to look for a control strategy that combines some of the best characteristics of existing techniques, so a control is proposed that combines the optimality of the LQR and the robustness of the VSC based on both the model linear as in the fuzzy TS model, the designed controllers are applied to the rotational inverted pendulum, in order to obtain a better response in both steady state and transient, less susceptible to external disturbances and modeling uncertainties in both simulation and real ROTPEN system.