This repository contains the complete experimental datasets and MATLAB codes for reproducing Figures 2 and 3 from the paper "Switched Fuzzy Control with Guaranteed Cost of a Furuta Pendulum Prototype", accepted for presentation at the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) 2026 / WCCI 2026. The repository enables full reproducibility of the comparative analysis, controller design, and experimental validation results presented in the publication.## Video DemonstrationA video of the Furuta pendulum experiment with the implemented switched fuzzy controller is available on YouTube: https://www.youtube.com/watch?v=i5m7Hab6jYk## Repository Structure### 📁 Data Files- Furuta_Pendulum_longer_rod.mat: Experimental dataset for the longer pendulum configuration (states, control signals, disturbances)- Furuta_Pendulum_short_rod.mat: Experimental dataset for the shorter pendulum configuration- switched_controller_design_beta_0.9.mat: Designed switched controller with decay rate β=0.9 (gain matrices and parameters)- Data_switched_gain_mu_M_*.mat: LMI-based controller design results for switched control with parameters μ_M = 2000, 1000, 500, 100- Data_single_gain_mu_M_*.mat: LMI-based controller design results for single gain control with parameters μ_M = 2000, 1000, 500, 100### 📁 MATLAB Code Files- MAIN_furuta_paper_data_pipeline.m: Main script to run the entire data generation pipeline- generate_TS_fuzzy_model_furuta_pendulum.m: Generates Takagi-Sugeno fuzzy model (polytopic representation)- generate_TS_hybrid_uncertainty_model.m: Creates hybrid uncertainty models with norm-bounded uncertainties- generate_figure2_switched_vs_single_gain_data.m: Computes LMI solutions for switched vs. single gain control comparison (Figure 2 data)- Figure_2_guaranteed_cost_comparison.m: MATLAB script to generate Figure 2 from saved data- Figure_3_experimental_results_Furuta_prototype.m: MATLAB script to generate Figure 3 showing experimental results for both pendulum lengths- design_switched_controller.m: Example script for designing a single switched controller with fixed β### 📁 Generated Figures (Publication Ready)- Figure_2_switched_vs_single_gain_comparison.eps/.jpg: Figure 2 in vector (EPS) and raster (JPEG) formats- Figure_3_Furuta_experimental_results.eps/.jpg: Figure 3 in vector (EPS) and raster (JPEG) formats## Key Features- Complete Data Availability: All experimental measurements and controller design results- Full Reproducibility: Includes all MATLAB codes for TS fuzzy modeling, hybrid uncertainty, LMI-based design, and figure generation- MATLAB Compatibility: Tested with MATLAB R2020a and later versions (requires YALMIP and an LMI solver)## CitationIf you use these datasets, codes, or figures in your research, please cite the corresponding paper (accepted for FUZZ-IEEE 2026).

This repository contains the complete experimental datasets and MATLAB codes for reproducing Figures 2 and 3 from the paper "Switched Fuzzy Control with Guaranteed Cost of a Furuta Pendulum Prototype", accepted for presentation at the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) 2026 / WCCI 2026. The repository enables full reproducibility of the comparative analysis, controller design, and experimental validation results presented in the publication.## Video DemonstrationA video of the Furuta pendulum experiment with the implemented switched fuzzy controller is available on YouTube: https://www.youtube.com/watch?v=i5m7Hab6jYk## Repository Structure### 📁 Data Files- Furuta_Pendulum_longer_rod.mat: Experimental dataset for the longer pendulum configuration (states, control signals, disturbances)- Furuta_Pendulum_short_rod.mat: Experimental dataset for the shorter pendulum configuration- switched_controller_design_beta_0.9.mat: Designed switched controller with decay rate β=0.9 (gain matrices and parameters)- Data_switched_gain_mu_M_*.mat: LMI-based controller design results for switched control with parameters μ_M = 2000, 1000, 500, 100- Data_single_gain_mu_M_*.mat: LMI-based controller design results for single gain control with parameters μ_M = 2000, 1000, 500, 100### 📁 MATLAB Code Files- MAIN_furuta_paper_data_pipeline.m: Main script to run the entire data generation pipeline- generate_TS_fuzzy_model_furuta_pendulum.m: Generates Takagi-Sugeno fuzzy model (polytopic representation)- generate_TS_hybrid_uncertainty_model.m: Creates hybrid uncertainty models with norm-bounded uncertainties- generate_figure2_switched_vs_single_gain_data.m: Computes LMI solutions for switched vs. single gain control comparison (Figure 2 data)- Figure_2_guaranteed_cost_comparison.m: MATLAB script to generate Figure 2 from saved data- Figure_3_experimental_results_Furuta_prototype.m: MATLAB script to generate Figure 3 showing experimental results for both pendulum lengths- design_switched_controller.m: Example script for designing a single switched controller with fixed β### 📁 Generated Figures (Publication Ready)- Figure_2_switched_vs_single_gain_comparison.eps/.jpg: Figure 2 in vector (EPS) and raster (JPEG) formats- Figure_3_Furuta_experimental_results.eps/.jpg: Figure 3 in vector (EPS) and raster (JPEG) formats## Key Features- Complete Data Availability: All experimental measurements and controller design results- Full Reproducibility: Includes all MATLAB codes for TS fuzzy modeling, hybrid uncertainty, LMI-based design, and figure generation- MATLAB Compatibility: Tested with MATLAB R2020a and later versions (requires YALMIP and an LMI solver)## CitationIf you use these datasets, codes, or figures in your research, please cite the corresponding paper (accepted for FUZZ-IEEE 2026).

This repository contains the complete experimental datasets and MATLAB codes for reproducing Figures 2 and 3 from the paper "Switched Fuzzy Control with Guaranteed Cost of a Furuta Pendulum Prototype", accepted for presentation at the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) 2026 / WCCI 2026. The repository enables full reproducibility of the comparative analysis, controller design, and experimental validation results presented in the publication.## Video DemonstrationA video of the Furuta pendulum experiment with the implemented switched fuzzy controller is available on YouTube: https://www.youtube.com/watch?v=i5m7Hab6jYk## Repository Structure### 📁 Data Files- Furuta_Pendulum_longer_rod.mat: Experimental dataset for the longer pendulum configuration (states, control signals, disturbances)- Furuta_Pendulum_short_rod.mat: Experimental dataset for the shorter pendulum configuration- switched_controller_design_beta_0.9.mat: Designed switched controller with decay rate β=0.9 (gain matrices and parameters)- Data_switched_gain_mu_M_*.mat: LMI-based controller design results for switched control with parameters μ_M = 2000, 1000, 500, 100- Data_single_gain_mu_M_*.mat: LMI-based controller design results for single gain control with parameters μ_M = 2000, 1000, 500, 100### 📁 MATLAB Code Files- MAIN_furuta_paper_data_pipeline.m: Main script to run the entire data generation pipeline- generate_TS_fuzzy_model_furuta_pendulum.m: Generates Takagi-Sugeno fuzzy model (polytopic representation)- generate_TS_hybrid_uncertainty_model.m: Creates hybrid uncertainty models with norm-bounded uncertainties- generate_figure2_switched_vs_single_gain_data.m: Computes LMI solutions for switched vs. single gain control comparison (Figure 2 data)- Figure_2_guaranteed_cost_comparison.m: MATLAB script to generate Figure 2 from saved data- Figure_3_experimental_results_Furuta_prototype.m: MATLAB script to generate Figure 3 showing experimental results for both pendulum lengths- design_switched_controller.m: Example script for designing a single switched controller with fixed β### 📁 Generated Figures (Publication Ready)- Figure_2_switched_vs_single_gain_comparison.eps/.jpg: Figure 2 in vector (EPS) and raster (JPEG) formats- Figure_3_Furuta_experimental_results.eps/.jpg: Figure 3 in vector (EPS) and raster (JPEG) formats## Key Features- Complete Data Availability: All experimental measurements and controller design results- Full Reproducibility: Includes all MATLAB codes for TS fuzzy modeling, hybrid uncertainty, LMI-based design, and figure generation- MATLAB Compatibility: Tested with MATLAB R2020a and later versions (requires YALMIP and an LMI solver)## CitationIf you use these datasets, codes, or figures in your research, please cite the corresponding paper (accepted for FUZZ-IEEE 2026).

This repository contains the complete experimental datasets and plotting scripts for reproducing Figures 2 and 3 from the paper "Switched Fuzzy Control with Guaranteed Cost of a Furuta Pendulum Prototype" submited to the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) 2026. The repository enables full reproducibility of the comparative analysis and experimental validation results presented in the publication.## Video DemonstrationA video of the Furuta pendulum experiment with the implemented switched fuzzy controller is available on YouTube: https://www.youtube.com/watch?v=PprhXUH2Jf4## Repository Structure### 📁 Data Files- Furuta_Pendulum_longer_rod.mat: Experimental dataset for the longer pendulum configuration (states, control signals, disturbances)- Furuta_Pendulum_short_rod.mat: Experimental dataset for the shorter pendulum configuration- switched_controller_design_beta_0.9.mat: Designed switched controller with decay rate β=0.9 (gain matrices and parameters)- Data_switched_gain_mu_M_*.mat: LMI-based controller design results for switched control with parameters μ_M = 2000, 1000, 500, 100- Data_single_gain_mu_M_*.mat: LMI-based controller design results for single gain control with parameters μ_M = 2000, 1000, 500, 100### 📁 Figure Generation Scripts- Figure_2_guaranteed_cost_comparison.m: MATLAB script to generate Figure 2 comparing switched vs. single gain control performance- Figure_3_experimental_results_Furuta_prototype.m: MATLAB script to generate Figure 3 showing experimental results for both pendulum lengths with switched control### 📁 Generated Figures (Publication Ready)- Figure_2_switched_vs_single_gain_comparison.eps/.jpg: Figure 2 in vector (EPS) and raster (JPEG) formats- Figure_3_Furuta_experimental_results.eps/.jpg: Figure 3 in vector (EPS) and raster (JPEG) formats## Quick Start1. Clone this repository and open MATLAB in the repository directory2. Run Figure_2_guaranteed_cost_comparison.m to regenerate Figure 23. Run Figure_3_experimental_results_Furuta_prototype.m to regenerate Figure 34. Generated figures will be saved as both EPS (publication quality) and JPEG (presentation quality) files## Key Features- Complete Data Availability: All experimental measurements and controller design results- Full Reproducibility: Enables exact reproduction of all graphical results from the paper- MATLAB Compatibility: Tested with MATLAB R2020a and later versions## CitationIf you use these datasets or figures in your research, please cite.