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ABSTRACT

A novel fuzzy preview controller based on look up tables is proposed for control design of a rotary inverted pendulum represented with integrated time delay in system matrices. The proposed control achieved control of all system states with predefined standard requirements. The advantage of preview control helps in conservation of energy as the control input acts upon after a lookup making the system robust even under the impact of custom designed system time delays that were incorporated into the system. The proposed method shows the influence of time delay can be countered effectively by integrating the delay into the system matrix and then using the novel fuzzy granular preview control.

This chapter provides an elaborate discussion on the use of fuzzy preview control designed with the help of look up tables and granular computing for the studies on under actuated systems which are dynamic systems which have lesser degrees of freedom than the actuating input signals. It is an important design consideration for most systems to be categorized under this section which makes them the essential component for analysis. The chapter provides an in depth analysis taking the case studies of various control system test beds such as the family of the inverted pendulum systems which make the prototype models for validation before applying the developed logic to control of high end complex dynamic systems in terms of stability, robustness, speed of operation and more importantly to see the fuzzy structure that controls these systems in terms of lookup tables.