Mobile inverted pendulum (MIP) systems, typified by two-wheeled self-balancing robots and emerging wheel-legged platforms, present intrinsically unstable, underactuated dynamics that demand ...

The Takagi--Sugeno (T--S) fuzzy descriptor system offers a promising avenue for controlling non-linear systems but lacks optimal control strategies. Moreover, while robust control methods have been ...

(a) The controller uses Parallel Distributed Compensator (PDC) as the control stratergy and Linear Matrix Inequality (LMI)-based stability conditions to achieve ...