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q
i1
l
i
ztA
i
xt B
i
ut
q
i1
l
i
ztDA
i
xt DB
i
ut w;
yt
q
i1
l
i
ztC
i
xt;
2
where
w
i
zt
n
j1
M
i
j
z
j
t; l
i
zt
w
i
zt
q
i1
w
i
zt
; i 1; 2; . . . ; q;
in which M
i
j
z
j
t is the grade of membership of z
j
t in M
i
j
. Some basic
properties are:
w
i
t P0;
q
i1
w
i
t > 0; i 1; 2; . . . ; q:
S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390 75
It is clear that
l
i
zt P0;
q
i1
l
i
zt 1; i 1; 2; . . . ; q:
The TS uncertain fuzzy model in (2) is a general nonlinear time-varying
equation with parametric uncertainties and has been used to model the be-
haviors of complex nonlinear dynamic systems [6].
Consider a reference mode as follows [10]:
_ xx
r
t A
r
x
r
t rt; 3
where x
r
t is reference state, A
r
specic asymptotically stable matrix, rt
bounded reference input.
Dene the tracking error as
e
r
t xt x
r
t:
Then the objective is to design a TS fuzzy model-based controller, which
stabilizes the fuzzy system (2) and achieves the H
1
tracking performance re-
lated to tracking error e
r
t as follows [10]:
_
t
f
0
e
T
r
tQe
r
t dt 6q
2
_
t
f
0
ww
T
wwdt; 4
where ww wt rt
T
for both reference input rt and external disturbance
wt, t
f
terminal time of control, Q positive denite weighting matrix, q a
prescribed attenuation level.
The physical meaning of (4) is that the eect of any wwt on tracking error
e
r
t must be attenuated below a desired level q forms the viewpoint of energy,
no matter what wwt is, i.e., the L
2
gain from wwt to e
r
t must be equal to or
less than a prescribed value q
2
.
Since the dynamic system (2) has time-varying uncertain matrices, it is not
easy to design the controller gain matrices. In order to nd these gain matrices,
K
i
, the uncertain matrices should be removed under some reasonable as-
sumptions. Therefore, we assume, as usual, that the uncertain matrices DA
i
and
DB
i
are admissibly norm-bounded and structured.
Assumption 1. The parameter uncertainties considered here are norm-bounded,
in the form [6]:
DA
i
; DB
i
D
i
F
i
tE
1i
; E
2i
;
F
T
i
tF
i
t 6I;
where D
i
, E
1i
, and E
2i
are known real constant matrices of appropriate di-
mension, and F
i
t is an unknown matrix function with Lebesgue-measurable
elements, I is the identity matrix of appropriate dimension.
76 S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390
3. Fuzzy state feedback tracking control design
In this section, we assume that the all state variables are available for
feedback control. Later in Section 4, we will relax this assumption. In this case,
the fuzzy controller is designed as:
IF z
1
t is M
i
1
and z
2
t is M
i
2
and . . . andz
n
t is M
i
n
;
THEN ut K
i
e
r
t; i 1; 2; . . . ; q; 5
where K
i
2 R
mn
is a constant feedback gain to be determined.
Hence, the overall fuzzy controller is given by
ut
q
i1
l
i
ztK
i
e
r
t: 6
Substituting (6) into (2) yields
_ xxt
q
i1
q
j1
l
i
ztl
j
ztA
i
DA
i
xt B
i
DB
i
K
j
e
r
t
wt: 7
Dene the augmented state vector and external disturbance vector as follows
xxt xt x
r
t
T
; wwt wt rt
T
:
Then (2) and (7) become, on using (6),
_
xx xxt
q
i1
q
j1
l
i
ztl
j
zt
AA
ij
D
AA
ij
xxt wwt; 8
where
AA
ij
A
i
B
i
K
j
B
i
K
j
0 A
r
_ _
; D
AA
ij
DA
i
DB
i
K
j
DB
i
K
j
0 0
_ _
:
The main results on the fuzzy tracking control design of TS fuzzy model,
with parametric uncertainties, are summarized in the following theorem:
Theorem 1. If there exist a symmetric and positive definite P, some matrices K
i
,
(i 1; 2; . . . ; q) such that the following matrix inequalities are satisfied, then for a
prescribed q
2
, H
1
tracking control performance in (4) is guaranteed via the TS
fuzzy model-based state-feedback controller (6):
AA
T
ij
P P
AA
ij
1
q
2
PP
QQ
EE
T
ij
EE
ij
P
DD
i
DD
T
i
P < 0; 9
where
QQ
Q Q
Q Q
_ _
; E
ij
E
i1
E
i2
K
j
E
i2
K
j
0 0
_ _
;
S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390 77
DD
i
D
i
0
0 D
i
_ _
;
FF
i
t
F
i
t 0
0 F
i
t
_ _
:
Proof. Consider the Lyapunov function candidate
V t xxt
T
Pxxt; 10
where the weighting matrix P P
T
> 0. The time derivative of V t is
V t
_
xx xxt
T
Pxxt xxt
T
P
_
xx xxt: 11
By substituting (8) into (11), we get
_
VV t
q
i1
q
j1
l
i
l
j
xx
T
t
AA
T
ij
P
_
P
AA
ij
D
AA
T
ij
P PD
AA
ij
_
xxt
ww
T
Pxxt xx
T
tP wwt
q
i1
q
j1
l
i
l
j
xx
T
t
AA
T
ij
P
_
P
AA
ij
D
AA
T
ij
P PD
AA
ij
_
xxt ww
T
Pxxt
xx
T
tP wwt q
2
ww
T
ww
1
q
2
ww
T
ww
1
q
2
ww
T
wwq
2
ww
T
ww
q
i1
q
j1
l
i
l
j
xx
T
t
AA
T
ij
P
_
P
AA
ij
D
AA
T
ij
P PD
AA
ij
_
xxt
1
q
Pxxt q wwt
_ _
T
1
q
Pxxt q wwt
_ _
1
q
2
xx
T
tPPxxt q
2
ww
T
ww
6
q
i1
q
j1
l
i
l
j
xx
T
t
AA
T
ij
P
_
P
AA
ij
D
AA
T
ij
P PD
AA
ij
_
xxt
1
q
2
xx
T
tPPxxt q
2
ww
T
ww
q
i1
q
j1
l
i
l
j
xx
T
t
AA
T
ij
P P
AA
ij
D
AA
T
ij
P PD
AA
ij
1
q
2
PP
_ _
xxt q
2
ww
T
ww: 12
Lemma 1 [14]. Given constant matrices X and Y of appropriate dimensions, the
following inequality holds:
X
T
Y Y
T
X 6X
T
X Y
T
Y :
78 S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390
Applying Lemma 1 to xx
T
tD
AA
T
ij
P PD
AA
ij
x
T
t, we have
xx
T
t D
AA
T
ij
P
_
PD
AA
ij
_
xxt 6xx
T
t
EE
T
ij
FF
T
i
DD
T
i
Pxxt xx
T
tP
DD
i
FF
i
EE
ij
Pxxt
6xx
T
t
EE
T
ij
FF
T
i
FF
i
EE
ij
xxt xx
T
tP
DD
i
DD
T
i
Pxxt
6xx
T
t
EE
T
ij
EE
ij
xxt xx
T
tP
DD
i
DD
T
i
Pxxt: 13
Substituting (13) into (12) yields:
_
VV 6
q
i1
q
j1
l
i
l
j
xx
T
t
AA
T
ij
P
_
P
AA
ij
EE
T
ij
EE
ij
1
q
2
PP
QQ P
DD
i
DD
T
i
P
_
xxt
q
2
ww
T
ww: 14
From (9), we get
_
VV t 6 xx
T
t
QQxxt q
2
ww
T
wwt: 15
Integrating (15) from t 0 to t t
f
yields:
V t
f
V 0 6
_
t
f
0
xx
T
t
QQxxt dt q
2
_
t
f
0
ww
T
wwdt
_
t
f
0
e
T
r
t
QQe
r
t dt q
2
_
t
f
0
ww
T
ww dt: 16
Or equivalently
_
t
f
0
e
T
r
t
QQe
r
t dt 6e
T
r
0Pe
r
0 q
2
_
t
f
0
ww
T
ww dt: 17
That is (4) and the H
1
control performance is achieved with a prescribed q
2
.
It is noted that Theorem 1 gives the sucient condition of ensuring the
stability of the fuzzy system (2) and achieving the H
1
tracking performance
(4). However, it does not give the methods of obtaining the solution of a
common positive matrix
PP for (9). In general, it is not easy to analytically
determine such a common positive matrix, fortunately (9) can be transferred
into LMIs, which can be solved in a computationally ecient manner using
convex optimization techniques such as the interior point method [4].
For the convenience of the design, we assume
P
P
11
0
0 P
22
_ _
: 18
By substituting (18) into (9), we obtain
F
11
F
12
F
21
F
22
_ _
< 0;
S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390 79
where
F
11
A
i
B
i
K
j
T
P
11
P
11
A
i
B
i
K
j
1
q
2
P
11
P
11
Q
E
i1
E
i2
K
j
T
E
i1
E
i2
K
j
P
11
D
i
D
T
i
P
11
;
F
12
F
T
21
E
i1
E
i2
K
j
T
B
i
K
j
Q;
F
22
A
T
r
P
22
P
22
A
r
Q
1
q
2
P
22
P
22
P
12
D
i
D
T
i
P
22
:
19
By the Schur complement, (19) is equivalent to
H
11
H
12
0
H
21
H
22
P
22
0 P
22
q
2
I
_ _
< 0;
where
H
11
A
i
B
i
K
j
T
P
11
P
11
A
i
B
i
K
j
1
q
2
P
11
P
11
Q
E
i1
E
i2
K
j
T
E
i1
E
i2
K
j
P
11
D
i
D
T
i
P
11
;
H
12
H
T
21
E
i1
E
i2
K
j
T
B
i
K
j
Q;
H
22
A
T
r
P
22
P
22
A
r
Q
1
q
2
P
22
P
22
P
12
D
i
D
T
i
P
22
:
20
In the following, we can solve P
11
, P
22
and K
j
by the following two-step pro-
cedures:
In the rst step, note that (20) implies that H
11
< 0, i.e.,
A
i
B
i
K
j
T
P
11
P
11
A
i
B
i
K
j
1
q
2
P
11
P
11
Q
E
i1
E
i2
K
j
T
E
i1
E
i2
K
j
P
11
D
i
D
T
i
P
11
< 0: 21
By introducing new variables W P
1
11
and Y
j
K
j
W , then (21) is equivalent
to the following matrix inequalities:
WA
T
i
A
i
W B
i
Y
j
Y
j
B
i
1
q
2
I D
i
D
T
i
WQW
E
i1
W E
i2
Y
j
_
T
E
i1
W E
i2
Y
j
_
< 0: 22
By the Schur complement, (22) is equivalent to the following LMIs:
U
ij
W E
i1
W E
i2
Y
j
W
T
Q
1
0
E
i1
W E
i2
Y
j
T
0 I
_
_
_
_
< 0; 23
where
U
ij
WA
T
i
A
i
W B
i
Y
j
Y
j
B
i
1
q
2
I D
i
D
T
i
:
80 S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390
The parameters W and Y
i
(thus P
11
W
1
, K
j
Y
j
W
1
) can be obtained by
solving the LMI (23).
The second step, by substituting P
11
and K
j
into (21), then (21) becomes a
standard LMIs. Similarly, we can easily solve P
22
.
4. Fuzzy observer-based tracking control
In the previous section, fuzzy tracking control requires that all the state
variables are available. In practice, this assumption often does not hold. In this
situation, we need to estimate state vector x from output y for feedback control.
Suppose the following fuzzy observer is proposed to deal with the state
estimation of the fuzzy system (2)
IF z
1
t is M
i
1
and z
2
t is M
i
2
and . . . and z
n
t is M
i
n
THEN
_
^ xx^ xxt A
i
^ xxt B
i
ut G
i
yt ^ yyt;
^ yyt C
i
^ xxt;
i 1; 2; . . . ; q; 24
where G
i
2 R
nl
is constant observer gain to be determined.
The overall fuzzy observer is represented as follows
_
^ xx^ xxt
q
i1
l
i
ztA
i
^ xxt
q
i1
l
i
ztB
i
ut
q
i1
l
i
ztG
i
yt ^ yyt;
^ yyt
q
i1
l
i
ztC
i
^ xxt: 25
Dene observation error as
et xt ^ xxt: 26
Design the observer-based fuzzy controller in the form
ut
q
i1
l
i
ztK
i
^ xxt x
r
t: 27
From systems (7), (25) and (26), we obtain
_ eet
q
i1
q
j1
l
i
ztl
j
ztA
i
G
i
C
j
DB
i
K
j
et
q
i1
q
j1
l
i
ztl
j
ztDA
i
xt wt: 28
The augmented system composed of (2), (3) and (28), on using (27), can be
expressed in the following form:
_
~xx ~xxt
q
i1
q
j1
l
i
ztl
j
zt
~
AA
ij
D
~
AA
ij
~xxt
~
EE
i
~ wwt; 29
S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390 81
where
~xxt et xt x
r
t
T
; ~ wwt 0 wt rt
T
;
~
AA
ij
A
i
G
i
C
j
0 0
B
i
K
j
A
i
B
i
K
j
B
i
K
j
0 0 A
r
_
_
_
_;
D
~
AA
ij
DB
i
K
j
DA
i
0
0 DA
i
DB
i
K
j
DB
i
K
j
0 0 0
_
_
_
_;
~
EE
i
I I 0
0 0 I
_ _
T
:
The main result on fuzzy observer-based tracking control for the TS fuzzy
system with norm-bonded uncertainties is summarized in the following theo-
rem.
Theorem 2. If there exist symmetric and positive definite matrix
~
PP, some matrices
K
i
and G
i
(i 1; . . . ; q), such that the following matrix inequality are satisfied,
then for a prescribed q
2
, H
1
tracking control performance in (4) is guaranteed via
fuzzy observer-based controller (27):
~
AA
T
ij
~
PP
~
PP
~
AA
ij
1
q
2
~
PPE
i
E
T
i
~
PP
~
QQ
~
EE
T
ij
~
EE
ij
~
PP
~
DD
i
~
DD
T
i
~
PP < 0; 30
where
~
DD
i
D
i
0 0
0 D
i
0
0 0 D
i
_
_
_
_
;
~
EE
ij
E
i2
K
j
E
i1
0
0 E
i1
E
i2
K
j
E
12
K
j
0 0 0
_
_
_
_
;
~
FF t
F
i
t 0 0
0 F
i
t 0
0 0 F
i
t
_
_
_
_
;
~
QQ
0 0 0
0 Q Q
0 Q Q
_
_
_
_
:
Proof. Consider the Lyapunov function candidate
V t ~xx
T
t
~
PP~xxt; 31
where the weighting matrix
~
PP
~
PP
T
> 0. The time derivative of V t is
V t
_
~xx ~xx
T
t
~
PP~xxt ~xx
T
t
~
PP
_
~xx ~xxt: 32
By substituting (29) into (32), and repeating the procedures of proof of The-
orem 1, we obtain
82 S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390
_
VV t 6
q
i1
q
j1
l
i
l
j
~xx
T
~
AA
T
ij
~
PP
~
PP
~
AA
ij
D
~
AA
T
ij
~
PP
~
PPD
~
AA
ij
1
q
2
~
PPE
i
E
T
i
~
PP
_ _
~xxt
q
2
~ ww
T
~ ww: 33
Applying Lemma 1 to ~xx
T
tD
~
AA
T
ij
P PD
~
AA
ij
~xxt, we have
~xx
T
tD
~
AA
T
ij
~
PP
~
PPD
~
AA
ij
~xxt ~xx
T
t
~
EE
T
ij
~
FF
T
i
~
DD
T
i
~
PP~xxt ~xx
T
t
~
PP
~
DD
i
~
FF
i
~
EE
ij
~xxt
6~xx
T
t
~
EE
T
ij
~
FF
T
i
~
FF
i
~
EE
ij
~xxt ~xx
T
t
~
PP
~
DD
i
~
DD
T
i
~
PP~xxt
6~xx
T
t
~
EE
T
ij
~
EE
ij
~xxt ~xx
T
t
~
PP
~
DD
i
~
DD
T
i
~
PP~xxt: 34
Substituting (34) into (33) yields:
_
VV t 6
q
i1
q
j1
l
i
l
j
~xx
T
~
AA
T
ij
~
PP
~
PP
~
AA
ij
~
EE
T
ij
~
EE
ij
~
PP
~
DD
i
~
DD
T
i
~
PP
1
q
2
~
PPE
i
E
T
i
~
PP
_ _
~xxt
q
2
~ ww
T
~ ww: 35
Form (30), we get
_
VV t 6 ~xx
T
t
~
QQ~xxt q
2
~ ww
T
t ~ wwt: 36
In the same manipulation as in the previous section, we get
_
t
f
0
e
r
t
T
Qe
r
t dt 6e
r
0
T
Pe
r
0 q
2
_
t
f
0
~ ww
T
~ ww dt: 37
That is (4) and the H
1
control performance is achieved with a prescribed q
2
.
In the following, we transfer matrix inequality (30) into LMIs, and obtain
the symmetric denite matrix
~
PP.
We suppose
~
PP
P
11
P
22
P
33
_
_
_
_
: 38
By substituting (38) into (30), we obtain
S
11
S
12
0
S
21
S
22
S
23
0 S
32
S
33
_
_
_
_
< 0; 39
where
S
11
A
i
G
i
C
j
T
P
11
P
11
A
i
G
j
C
j
K
T
j
E
T
i2
E
i2
K
j
P
11
D
i
D
T
i
P
11
1
q
2
P
11
P
11
;
S
12
S
T
21
B
i
K
j
T
P
22
E
i2
K
j
T
E
i1
P
11
P
22
;
S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390 83
S
22
A
i
B
i
K
j
T
P
22
P
22
A
i
B
j
K
j
E
T
i1
E
i1
E
i1
E
i2
K
j
T
E
i1
E
i2
K
j
P
22
D
i
D
T
i
P
22
1
q
2
P
22
P
22
;
S
23
S
T
32
P
22
B
i
K
j
E
i1
E
i2
K
j
E
i2
K
j
;
S
11
A
T
r
P
33
P
33
A
r
E
i2
K
j
T
E
i2
K
j
P
33
D
i
D
T
i
P
33
1
q
2
P
33
P
33
:
By the Schur complement, (39) is equivalent to
M
11
P
11
P
11
D
i
M
41
0 0
P
11
q
2
I 0 0 0 0
P
11
D
i
T
0 I 0 0 0
M
T
41
0 0 M
44
M
45
0
0 0 0 M
T
45
M
55
P
33
0 0 0 0 P
33
1
q
2
I D
i
D
T
i
_ _
1
_
_
_
_
< 0; 40
where
M
11
A
T
i
P
11
P
11
A
i
G
i
C
j
T
P
11
P
11
G
i
C
j
K
T
j
E
T
i2
E
i2
K
j
M
14
M
T
41
S
12
; M
44
S
22
; M
45
M
T
54
S
23
;
M
55
A
T
r
P
33
P
33
A
r
E
i2
K
j
T
E
i2
K
j
:
Since ve parameters P
11
, P
22
, P
33
; K
j
and G
i
should be determined from (39),
there are no eective algorithms for solving them simultaneously. However, we
can solve them by the following two-step procedures.
In the rst step, note that (40) implies that M
44
< 0, i.e.,
A
i
B
i
K
j
T
P
22
P
22
A
i
B
j
K
j
E
T
i1
E
i1
E
i1
E
i2
K
j
T
E
i1
E
i2
K
j
P
22
D
i
D
T
i
P
22
1
q
2
P
22
P
22
< 0: 41
With W
22
P
1
22
and Y
j
K
j
W
22
, (41) is equivalent to
W
22
A
T
i
A
i
W
22
B
i
Y
j
Y
T
j
B
T
i
1
q
2
I D
i
D
T
i
W
22
E
T
i1
E
i1
QW
22
E
i1
W
22
E
i2
Y
j
T
E
i1
W
22
E
i2
Y
j
< 0: 42
By the Schur complement, (42) is equivalent to the following LMIs:
W
ij
W
22
E
i1
W
22
E
i2
Y
j
W
T
22
E
T
i1
E
i1
Q
1
0
E
i1
W
22
E
i2
Y
j
T
0 I
_
_
_
_
; 43
84 S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390
where
W
ij
W
22
A
T
i
A
i
W
22
B
i
Y
j
Y
T
j
B
T
i
1
q
2
I D
i
D
T
i
:
The parameters W
22
and Y
j
, i.e., P
22
W
1
22
and K
j
Y
j
W
1
22
are obtained by
solving LMI in (43). In the second step, by substituting P
22
and K
j
into (41),
(41) becomes a standard LMIs. Similarly, we can easily solve P
11
, P
33
and G
i
from (41).
5. Simulation example
To illustrate the proposed fuzzy robust tracking control approach, a control
problem of balancing an inverted pendulum on a cart is considered. Denote
x
1
x, x
2
_ xx, then the equation of the motion is given by [9] _ xx
1
x
2
_ xx
2
g sinx
1
amlx
2
2
sin2x
1
=2 a cosx
1
u
4l=3 aml cos
2
x
1
; 44
where x and _ xx are the angular displacement about the vertical axis (in rad) and
the angular velocity (in rad s
1
), respectively, g 9:8 m=s
2
is the acceleration
Fig. 1. The trajectories of the state variable x
1
and the reference state variable x
r1
x0 60; 0 and
^ xx
r
0 0; 0.
S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390 85
due to gravity, a 1=m M, m 2 kg is the mass of the pendulum, M 8 kg
is the mass of the cart, 2l 1 m is the length of the pendulum, and u is the
force applied to the cart. It was reported in [9] that the system of (44) can be
approximated by a fuzzy plant model with the following two rules:
Plant rule 1:
IF x
1
is about 0
THEN _ xx A
1
DA
1
xt B
1
ut w
y
1
t C
1
xt:
Plant rule 2:
IF x
1
is about p=2
THEN _ xx A
2
DA
2
xt B
2
ut w
y
2
t C
2
xt;
where
A
1
0 1
g
4l=3aml
0
_ _
; A
2
0 1
2g
p4l=3amlb
2
0
_ _
;
Fig. 2. The trajectories of the state variable x
2
and the reference state variable x
r2
x0 60; 0 and
^ xx
r
0 0; 0.
86 S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390
B
1
0
a
4l=3aml
_ _
; B
2
0
ab
4l=3amlb
2
_ _
; C
1
C
2
1
0
_ _
T
;
b cos88; x 2
p
2
;
p
2
_ _
;
where DA
1
and DA
2
represent the system parameters uncertainties but bounded,
the elements of DA
1
and DA
2
randomly achieve the values within 30% of their
nominal values corresponding to A
1
and A
2
; DB
1
DB
2
0. Based on as-
sumption 1, we dene
D
1
D
2
0:3 0
0 0:3
_ _
; E
1
E
2
15 0
0 15
_ _
;
E
21
E
22
0;
w 0 Dg sinx
1
=4l=3 aml cos
2
x
1
T
;
where Dg g6370 10
3
=6370 10
3
H, H 2 0; 100.
Fig. 3. The trajectories of the state variable x
1
and the reference state variable x
r1
x0 60; 0 and
^ xx
r
0 0; 0.
S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390 87
The membership functions are chosen as:
l
1
xt
1
2x
1
p
;
p
2
6x
1
60
1
2x
1
p
; 0 6x
1
6
p
2
_
; l
2
xt
2x
1
p
;
p
2
6x
1
60;
2x
1
p
; 0 6x
1
6
p
2
:
_
The reference model given by
_ xx
r1
_ xx
r2
_ _
0 1
4 3
_ _
x
r1
x
r2
_ _
0
sint
_ _
: 45
In the following simulation, we only give the results in the case of the
variables unavailable. For Q I, and q 0:06, solving LMIs (43) and (40) by
LMI optimization algorithm [11], feedback and observer gain matrices can be
obtained as
K
1
1900:13 2483:11 ; K
2
3:33 7:12 ;
G
1
1019:89 483:00
T
; G
2
405:37 170:41
T
:
The initial values of the states are chosen x0 60; 0, ^ xx0 0; 0,
x
r
0 0; 0 and x0 60; 0, ^ xx0 0; 0, x
r
0 0; 0. Figs. 14
Fig. 4. The trajectories of the state variable x
2
and the reference state variable x
r2
x0 60; 0
and ^ xx
r
0 0; 0.
88 S. Tong et al. / Internat. J. Approx. Reason. 30 (2002) 7390
illustrate the closed-loop system behaviors. The simulation results show that
the TS fuzzy model-based controller through fuzzy observer is robust against
norm-bounded parametric uncertainties.
6. Conclusions
In this paper, we have developed a robust fuzzy tracking control design
methodology for TS fuzzy model with parameter uncertainties in both the
conditions of the state variables available or unavailable. The basic approach is
based on the rigorous Lyapunov stability theory, and the basic tool is LMI.
Some sucient conditions for robust stabilization of the fuzzy system and
achieving the H
1
tracking performance are formulated in the LMIs format. To
demonstrate the eectiveness of the proposed controller design method, the
design scheme is applied to controlling the inverted pendulum system. The
simulation results have veried the eectiveness of the proposed control design
method.
Acknowledgements
Supported by the natural Science foundation of China and Liaoning
province.
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