Robust-optimal control of rotary inverted pendulum control through fuzzy descriptor-based techniques.

Expanding upon the well-established Takagi-Sugeno (T-S) fuzzy model, the T-S fuzzy descriptor model emerges as a robust and flexible framework. This article introduces the development of optimal and robust-optimal controllers grounded in the principles of stability control and fuzzy descriptor systems. By transforming complicated inequalities into linear matrix inequalities (LMI), we establish the essential conditions for controller construction, as delineated in theorems.