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Abstract

This paper presents a non-linear system control technique, based on the combination of the control theory for linearized systems and the application of a fuzzy inference to act as a supervisory controller, which analyzes the current situation and indicates the best combination of control for each situation. To develop this application, different linear controllers were designed to stabilize different regions of the state space. With the designed controllers, the fuzzy inference is used to analyze the system state variables. With this, it is possible to perform an interpolation of linear controllers to be applied in a non-linear system, in order to smooth the control close to the limits between regions. This technique is implemented in a simple pendulum system with an operating point around π or −π (in this work called the inverted pendulum), as it has non-linear dynamics and is largely studied in the literature.