Robust Takagi-Sugeno Fuzzy Dynamic Regulator for Trajectory Tracking of a Pendulum-Cart System

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td align="left">Controller </td><td align="center"><svg height="14.4402pt" id="M214" style="vertical-align:-5.15187pt" version="1.1" viewbox="-0.0498162 -9.28833 41.4997 14.4402" width="41.4997pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M608 643C551 682 486 687 443 687C299 687 188 608 188 504C188 361 341 312 465 312C483 312 501 313 518 315C454 195 366 93 314 59C255 82 201 109 141 109C73 109 33 83 33 52C33 13 76 -9 159 -9C218 -9 267 -1 314 15C354 0 402 -15 478 -15C575 -15 671 36 759 141L740 155C657 63 571 16 475 16C448 16 411 26 372 39C458 74 565 199 627 333C806 381 931 499 931 587C931 634 908 669 848 669C767 669 671 582 620 506C591 462 569 411 534 347C503 343 490 342 471 342C330 342 229 399 229 500C229 603 346 657 451 657C486 657 540 657 596 624L608 643ZM890 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408 376 408 465C408 569 328 635 237 635C178 635 131 610 100 575L42 494L67 471C94 511 138 565 205 565C277 565 321 518 321 435C321 348 259 269 195 195C146 136 89 82 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g58-48"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,17.244,0)"><path d="M297 -163V-131C189 -122 187 -119 187 -41V582C187 660 190 663 297 672V704H122V-163H297Z" id="g50-92"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,21.898,0)"><path d="M398 365C398 411 356 451 297 451C250 451 198 430 151 397C65 336 24 230 24 139C24 14 97 -12 148 -12C198 -12 284 7 373 104L355 130C306 84 246 53 198 53C132 53 111 109 111 163V189C209 211 398 261 398 365ZM317 351C317 308 273 262 117 225C134 338 189 383 221 399C230 404 249 407 263 407C295 407 317 389 317 351Z" id="g50-102"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="422" vert-adv-y="422"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,27.32,3.001)"><path d="M545 403C545 425 527 451 498 451C448 451 400 404 312 286L290 341C262 412 246 451 219 451C182 451 138 404 92 345L112 323C152 368 169 378 181 378C192 378 201 359 216 321L257 214C184 115 142 69 113 69C102 69 93 73 88 79S78 89 68 89C47 89 24 61 24 40C24 8 49 -12 75 -12C125 -12 175 31 271 175L312 64C330 15 357 -12 382 -12C421 -12 475 35 515 98L496 121C466 88 439 62 420 62C402 62 384 92 363 147L325 247C349 280 374 309 397 333C422 361 446 381 462 381C471 381 481 374 488 366C493 360 499 357 505 357C521 357 545 380 545 403Z" id="g50-121"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="569" vert-adv-y="569"></glyph.data></g><g transform="matrix(.0065,0,0,-0.0065,32.452,5.102)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 317 408 376 408 465C408 569 328 635 237 635C178 635 131 610 100 575L42 494L67 471C94 511 138 565 205 565C277 565 321 518 321 435C321 348 259 269 195 195C146 136 89 82 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g58-48"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,36.645,0)"><path d="M237 -163V704H62V672C170 663 172 660 172 582V-40C172 -118 170 -122 62 -131V-163H237Z" id="g50-94"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g></svg> deg </td><td align="center"><svg height="12.3393pt" id="M216" style="vertical-align:-3.05097pt" version="1.1" viewbox="-0.0498162 -9.28833 33.936 12.3393" width="33.936pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M608 643C551 682 486 687 443 687C299 687 188 608 188 504C188 361 341 312 465 312C483 312 501 313 518 315C454 195 366 93 314 59C255 82 201 109 141 109C73 109 33 83 33 52C33 13 76 -9 159 -9C218 -9 267 -1 314 15C354 0 402 -15 478 -15C575 -15 671 36 759 141L740 155C657 63 571 16 475 16C448 16 411 26 372 39C458 74 565 199 627 333C806 381 931 499 931 587C931 634 908 669 848 669C767 669 671 582 620 506C591 462 569 411 534 347C503 343 490 342 471 342C330 342 229 399 229 500C229 603 346 657 451 657C486 657 540 657 596 624L608 643ZM890 588C890 519 822 457 747 414C712 395 678 378 643 369C683 484 760 632 841 632C873 632 890 615 890 588ZM266 35C235 24 200 21 161 21C103 21 74 32 74 54C74 75 122 79 141 79C172 79 209 69 266 36V35Z" id="g198-13"></path><glyph.data ascent="687" descent="-226" horiz-adv-x="946" vert-adv-y="946"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,12.298,3.001)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 317 408 376 408 465C408 569 328 635 237 635C178 635 131 610 100 575L42 494L67 471C94 511 138 565 205 565C277 565 321 518 321 435C321 348 259 269 195 195C146 136 89 82 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g58-48"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,17.244,0)"><path d="M297 -163V-131C189 -122 187 -119 187 -41V582C187 660 190 663 297 672V704H122V-163H297Z" id="g50-92"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,21.898,0)"><path d="M528 97L513 125C484 95 440 68 431 68C425 68 421 76 427 107C449 227 476 342 505 451H495L418 424L385 278C338 191 220 62 157 62C145 62 133 76 145 130L200 368C215 434 210 451 183 451C157 451 92 418 24 352L37 324C78 356 106 377 115 377C123 377 122 364 116 340L64 115C58 89 56 68 56 52C56 2 78 -12 103 -12C127 -12 159 -4 190 18C247 59 309 113 366 187H368L351 108C328 1 348 -12 368 -12C403 -12 472 33 528 97Z" id="g50-118"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="552" vert-adv-y="552"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,29.075,0)"><path d="M237 -163V704H62V672C170 663 172 660 172 582V-40C172 -118 170 -122 62 -131V-163H237Z" id="g50-94"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g></svg> N </td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left">TSFSC </td><td align="center"> 0.0366 </td><td align="center"> 4.5893 </td><td align="center"> 27.0061 </td></tr><tr><td align="left">RTSFSC </td><td align="center"> 0.0355 </td><td align="center"> 2.5650 </td><td align="center"> 20.7189 </td></tr><tr><td align="left">RTSFDR </td><td align="center"> 0.0167 </td><td align="center"> 0.8608 </td><td align="center"> 16.4481 </td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Performance indices for the three fuzzy controllers.

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Robust Takagi-Sugeno Fuzzy Dynamic Regulator for Trajectory Tracking of a Pendulum-Cart System 