Journal of Circuits, Systems, and Computers

Vol. 28, No. 2 (2019) 1950023 (19 pages)

.c World Scienti¯c Publishing Company
#
DOI: 10.1142/S0218126619500233

Finite-Frequency Static Output Feedback H 1 Control of

Continuous-Time T–S Fuzzy Systems¤

Redouane Chaibi†, Ismail Er Rachid‡, El Houssaine Tissir§

and Abdelaziz Hmamed¶
LESSI, Department of Physics, Faculty of Sciences,
Dhar El Mehraz, Universit
e Sidi Mohamed Ben Abdellah,
B.P. 1796, Fes-Atlas, Morocco
†c.redouane.chaibi@gmail.com
‡
ismail.errachid@gmail.com
§
elhoussaine.tissir@usmba.ac.ma
¶
hmamed _abdelaziz@yahoo.fr

Received 29 December 2017

Accepted 17 April 2018
Published 24 May 2018

This paper is concerned with ¯nite-frequency static output feedback (SOF) H1 control for a
class of continuous-time Takagi–Sugeno (T–S) fuzzy systems. With the aid of the generalized
Kalman–Yakubovich–Popov (GKYP) lemma, su±cient conditions for the existence of the ¯-
nite-frequency SOF H1 control are presented. The bilinear matrix inequalities are converted to
a set of linear matrix inequalities, with the aid of some special derivations. Two practical
examples are given to demonstrate the e®ectiveness of the proposed method.

Keywords: Takagi–Sugeno fuzzy systems; static output feedback (SOF) control; ¯nite-
frequency H1 .

1. Introduction
The static output feedback (SOF) problem has received considerable attention1–3
because the static controllers are less expensive to be implemented and more reliable
in practice, and it is simpler than dynamic output feedback control. The SOF is
declared as follows: given a system, ¯nd an SOF gain such that the closed-loop
system is stable. There are a large number of research results on the SOF controller
design in the literature. In Ref. 2, the authors demonstrate that every dynamic
output feedback can be transformed into an SOF problem. A linear matrix equality
constraint is inserted on a Lyapunov matrix in Ref. 4, a Lyapunov matrix is forced to

*This paper was recommended by Regional Editor Piero Malcovati.

† Corresponding author.

1950023-1
R. Chaibi et al.

have a special structure in Ref. 5. Based on a noniterative linear matrix inequality

(LMI) optimization, the robust observer design with H1 performance and robust
SOF stabilization for a class of uncertain nonlinear systems are proposed in Ref. 6. In
another study,7 the parameter-dependent Lyapunov function was used to study the
robust SOF H1 control for linear systems with polytopic uncertainties in both the
continuous time and discrete time.
On the other hand, Takagi–Sugeno (T–S) fuzzy models8 have attracted much
interest from industrial practitioners and academic researchers, because they can
e®ectively approximate a large class of nonlinear systems. Thus several approaches
have been proposed. Based on the Lyapunov function, some relaxed LMI conditions
for stability analysis and control synthesis for the class of T–S fuzzy models are
developed in Refs. 9–11. Su±cient conditions for discrete-time T–S fuzzy systems,
subject to actuator saturations, were presented in Refs. 12 and 13, and the associated
stabilization conditions were represented as LMI problems. Observer-based reliable
fuzzy control design for nominal and uncertain fuzzy systems has been developed in
Ref. 14. Moreover, several nonquadratic Lyapunov functions were also proposed to
derive less conservative results in Ref. 15. Recently, some fuzzy static output feed-
back control design methods have been published for various types of continuous and
discrete systems.16–21 A robust dynamic output feedback controller was designed by
a fuzzy Lyapunov function and a descriptor redundancy approach in Ref. 22. The
problem of robust H1 SOF in the presence of the parametric uncertainties and
the actuators saturation was performed in the case of T–S fuzzy systems,23 where the
estimation of the largest domain of attraction for this system is solved as an LMI
optimization problem. A numerical procedure based on the cone complementarity
algorithm is given for the design of SOF stabilizing controllers of T–S fuzzy system
in Ref. 24.
It is worth noting that all the SOF H1 control designs previously cited deal with
the full-frequency domain, whereas, in such cases, the standard design approaches for
the whole-frequency domain may bring conservatism. So, it is important and more
practical to design SOF H1 in ¯nite-frequency domain. However, it is hard to use the
generalized Kalman–Yakubovich–Popov (GKYP) lemma in case of ¯nite frequency
to investigate the SOF H1 . The GKYP lemma for continuous systems has been
studied in some papers as well; to list some of these, H1 static output feedback
control with application to vibration active control of structural systems has been
solved in Ref. 25. Wang et al.26 investigated the H1 state feedback controller design.
Other works with the problem of stabilization for continuous systems with GKYP
lemma were discussed in Refs. 27 and 28.
Motivated by the previous studies, this work is concerned with the SOF H1
problem in ¯nite-frequency domain for continuous-time T–S fuzzy systems. Based on
the GKYP lemma, su±cient conditions for the existence of SOF H1 T–S fuzzy
systems are derived. With the aid of some special derivations, the SOF condition in
this paper is made independent of any transformation matrices and any equality

1950023-2
 Finite-Frequency SOF H ∞ Control of Continuous-Time T–S Fuzzy Systems

constraints. Thus, it is easy to see that the SOF controller can be obtained using a set
of some existing LMI solvers. Finally, the simulation results showed that the ¯nite-
frequency design proposed gives better results than the existing full-frequency
approaches. The rest of the paper is organized as follows. In Sec. 2, the problem is
formulated and useful preliminaries are introduced. The main results are given in
Sec. 3. Numerical examples are presented in Sec. 4 to show the advantages of the
design method proposed. Finally, conclusions are given in Sec. 5.

2. Problem Formulation
Consider the SOF H1 control for a class of continuous-time T–S fuzzy systems which
can be described by the following fuzzy rule:
Plant rule i: IF zðtÞ is Mi1 and . . . and zp ðtÞ is Mip ,
8
< xðtÞ
_ ¼ Ai xðtÞ þ B1i !ðtÞ þ B2i uðtÞ ;
Then zðtÞ ¼ C1i xðtÞ þ D11i !ðtÞ þ D12i uðtÞ ; ð1Þ
:
yðtÞ ¼ C2i xðtÞ þ D21i !ðtÞ ;
where i ¼ 1; 2; . . . ; r; zðtÞ ¼ ½z1 ðtÞz2 ðtÞ . . . zp ðtÞ
are known premise variables, Mij are
the fuzzy sets and r is the number of rules. uðtÞ 2 R m is the control input, yðtÞ 2 R l is
the measurement output with full-row rank matrices C2i . Ai ; B1i ; B2i ; C1i ; C2i ; D11i ;
D12i and D21i are constant matrices with appropriate dimensions.
The defuzzi¯cation process of the T–S model (1) can be represented as (2):
8 Xr
>
> xðtÞ ¼ hi ðzðtÞÞ½Ai xðtÞ þ B1i !ðtÞ þ B2i uðtÞ
;
>
> _
>
>
>
>
i¼1
>
< Xr
zðtÞ ¼ hi ðzðtÞÞ½C1i xðtÞ þ D11i !ðtÞ þ D12i uðtÞ
; ð2Þ
>
>
>
>
i¼1
>
> X
>
>
r
>
: yðtÞ ¼ hi ðzðtÞÞ½C2i xðtÞ þ D21i !ðtÞ
;
i¼1
P Q
where hi ðzðtÞÞ ¼ wi ðzðtÞÞ= ri¼1 wi ðzðtÞÞ; wi ðzðtÞÞ ¼ sj¼1 Mij ðzj ðtÞÞ; Mij ðzj ðtÞÞ is the
grade of membership of zj ðtÞ in Mij and wi ðzðtÞÞ represents the weight of the ith rule.
P
In this paper, we assume that wi ðzðtÞÞ  0, for i ¼ 1; 2; . . . ; r, and ri¼1 wi ðzðtÞÞ > 0,
Pr
for all t. Therefore, we get hi ðzðtÞÞ  0, for i ¼ 1; 2; . . . ; r, and i¼1 hi ðzðtÞÞ ¼ 1,
for all t.
In Refs. 16 and 35 the concept of parallel distributed compensation (PDC) to
design the T–S fuzzy controller is proposed. We consider the fuzzy controller by the
PDC law to design the static-output feedback controller.
Controller rule i: If z1 ðtÞ is Mi1 and . . . and zs ðtÞ is Mis
Then uðtÞ ¼ Ki yðtÞ ; ð3Þ

1950023-3
R. Chaibi et al.

where Ki are the feedback gain matrices for all i ¼ 1; 2; . . . ; r. The overall static
feedback control is inferred as
X
r
uðtÞ ¼ hi ðzðtÞÞKi yðtÞ : ð4Þ
i¼1

By substituting (4) into (2), the closed-loop fuzzy system can be represented as
8
> X r X r X r
>
> xðtÞ ¼ ijl xðtÞ þ B
hi hj hl ½A  ijl !ðtÞ
;
>
> _
< i¼1 j¼1 l¼1
ð5Þ
>
> X r X r X r
>
> 
: zðtÞ ¼ hi hj hl ½C ijl xðtÞ þ D ijl !ðtÞ
;
> 
i¼1 j¼1 l¼1

where
Aijl ¼ Ai þ B2i Kj C2l ;  ijl ¼ B1i þ B2i Kj D21l ;
B
C ijl ¼ C1i þ D12i Kj C2l ;  ijl ¼ D11i þ D12i Kj D21l ;
D ð6Þ
hi ¼ hi ðzðtÞÞ ; hj ¼ hj ðzðtÞÞ ; hk ¼ hk ðzðtÞÞ :

The following lemmas are needed to prove our results.

Lemma 1 (Ref. 32). Consider the continuous-time TS fuzzy system in (5) with
transfer function matrix
 1 B
Hðj!Þ ¼ C ðj!I  AÞ  þD
; ð7Þ
with
X
r X
r X
r r X
X r X
r
¼
A ijl ;
hi hj hl A ¼
B  ijl ;
hi hj hl B
i¼1 j¼1 l¼1 i¼1 j¼1 l¼1
ð8Þ
r X
X r X
r r X
X r X
r
C ¼ hi hj hl C ijl ;  ¼
D  ijl :
hi hj hl D
i¼1 j¼1 l¼1 i¼1 j¼1 l¼1

Let a prescribed H1 performance level
> 0 be given, the system dynamics (5)
satis¯es
jjHjj 
1 ¼ sup max ½Hðj!Þ
<
; 8! 2  ; ð9Þ
!2

if there exist a symmetric matrix P and a symmetric positive de¯nite matrix Q, such
that the following conditions hold:



 " T  #
A B T 1 2 A  B
 C C C T D

þ < 0; ð10Þ
I 0  2 3 I 0  T C D
D  TD 
2I

1950023-4
 Finite-Frequency SOF H ∞ Control of Continuous-Time T–S Fuzzy Systems

Table 1. 1 ; 2 and 3 in di®erent frequency ranges.

Frequency range Low frequency Middle frequency High frequency

8!2R j!j  !l !1  !  !2 !h  j!j
h i
 h i

1 2 Q P Q j!c Q þ P Q P
 2 3 j!c Q þ P !1 !2 Q
P ! 2l Q P ! 2h Q

Note: Here !c ¼ ð!1 þ !2 Þ=2.

h i
1 2
where  2 3
and  are de¯ned in Table 1.
Lemma 2 (Ref. 33). Given a symmetric matrix  2 R pp and two matrices X; Z of
column dimension p, there exists a matrix Y such that the LMI
 þ symðX T YZÞ < 0 ð11Þ
holds if and only if the following two projection inequalities with respect to Y are
satis¯ed:
X ? T X ? < 0; Z ? T Z ? < 0 ; ð12Þ
where X ? and Z ? are arbitrary matrices whose columns form a basis of the null
spaces of X and Z, respectively.
Lemma 3 (Ref. 16). For a positive de¯nite matrix R 2 R nn and matrices X and Y
with appropriate dimensions, the following inequality holds:

X T Y þ Y T X  X T RX þ Y T R 1 Y :

Lemma 4 (Ref. 16). For a positive de¯nite matrix R 2 R nn , a square matrix
X 2 R nn and a scalar , the following inequality holds:
X T R 1 X   2 R  X  X T :

Remark 1. An iterative method based on LMI decomposition has been presented in

Ref. 17 for SOF of TS fuzzy systems. The major drawback of this approach is that
design of SOF fuzzy controllers depends on the initial values. To avoid such
drawback, an LMI design method is provided in this work without the need to
impose any constraints on system matrices.

3. Main Results
In this section, we will design the SOF H1 control with ¯nite-frequency speci¯cation
for the T–S fuzzy system.
Theorem 1. Consider the closed-loop fuzzy system (5) and a scalar
> 0, the
system is asymptotically stable with the H1 performance
if there exist symmetric

1950023-5
R. Chaibi et al.

matrices P ; Q > 0; P
 > 0 and matrices F and G, such that the following LMIs
hold:
2  3
11 12 F B 0
6    C T 7
6 GB 7
¼6 22
7 < 0; ð13Þ
4   
I D2  5
T

   I
" #
F  F T  þ FA
P   GT
 ¼
 < 0; ð14Þ
 GA þ AT GT

where:
in middle-frequency range,
11 ¼ Q  F  F T ; 12 ¼ j!c Q þ P þ F A  G T ;
þA
22 ¼ !1 !2 Q þ GA T GT ;

in low-frequency range,
11 ¼ Q  F  F T ;   GT ;
12 ¼ P þ F A 22 ¼ ! 2l Q þ GA þ A
T GT ;

in high-frequency range,
11 ¼ Q  F  F T ;   GT ;
12 ¼ P þ F A 22 ¼ ! 2h Q þ GA þ A T G T :

Proof. We can verify that (14) is equivalent to

" # 
 
0 P  F
þ sym ½I 
A
< 0: ð15Þ

P 0 G

By Lemma 2 with
" #

0 
P F
¼ ; X ¼ I; Y ¼ ; Z ¼ ½I  ;
A


P 0 G

the inequality (15) can guarantee

" #
0 
A
P 

½A T I
< 0; ð16Þ

P 0 I

which implies that the closed-loop system with !ðtÞ ¼ 0 is asymptotically stable.
Let
2 3
1 2 0
6 7
 ¼ 4  2 3 þ C T C C T D
 5;
0  C
D T

I þ D
2  D
T 

1950023-6
 Finite-Frequency SOF H ∞ Control of Continuous-Time T–S Fuzzy Systems

with 1 ; 2 and 3 being de¯ned in Table 1. By the Schur complement, (13) is

equivalent to

 þ symðX T YZÞ < 0 ; ð17Þ

where
 
X ¼ I; Y ¼ ½FT GT 0
T ; Z ¼ I A  :
 B
" #
 B
A 
Choosing Z ? ¼ I 0 and applying Lemma 2, we obtain from (17) that (10)
0 I
holds.
The proof is completed.
In the following theorem, we will present new LMI conditions, which can guar-
antee the asymptotical stability of the closed-loop system (5) in the ¯nite-frequency
domain with the SOF H1 controller design.
Theorem 2. Consider the closed-loop fuzzy system (5) and a scalar
> 0, the
system is asymptotically stable with the H1 performance
if, for known scalar
parameter , there exist symmetric matrices P ; Q > 0; P > 0; R > 0 and matrices
F ; G; H; M and Ni , such that the following LMIs hold:


iii iii
< 0; i ¼ 1; . . . ; r ; ð18Þ
 
2 3
iij þ iji þ jii iij iji jii
6   0 0 7
6 7 < 0; i; j ¼ 1; 2; . . . ; r ; i 6¼ j ; ð19Þ
4    0 5
   
2 3
ijl þ ilj
6 7
6 þjil þ jli 7
6 7
6 þ þ  ijl ilj jil jli lij lji 7
6 lij lji 7
6 7
6  0 7
6  0 0 0 0 7
6 7
6 0 7
6    0 0 0 7 < 0; ð20Þ
6 7
6     0 0 0 7
6 7
6 7
6      0 0 7
6 7
6 7
4       0 5
      
i ¼ 1; . . . ; r  2 ; j ¼ i þ 1; . . . ; r  1 ; l ¼ j þ 1; . . . ; r ;

1950023-7
R. Chaibi et al.


iii #iii
< 0; i ¼ 1; . . . ; r ; ð21Þ
 
2 3
iij þ iji þ jii #iij #iji #jii
6   0 0 7
6 7 < 0; i; j ¼ 1; 2; . . . ; r ; i 6¼ j ; ð22Þ
4    0 5
   
2 3
ijl þ ilj
6 7
6 þjil þ jli 7
6 7
6 þ þ  #ijl #ilj #jil #jli #lij #lji 7
6 lij lji 7
6 7
6  0 7
6  0 0 0 0 7
6 7
6 0 7
6    0 0 0 7 < 0; ð23Þ
6 7
6     0 0 0 7
6 7
6 7
6      0 0 7
6 7
6 7
4       0 5
      
i ¼ 1; . . . ; r  2 ; j ¼ i þ 1; . . . ; r  1 ; l ¼ j þ 1; . . . ; r ;
where
2 3
11 12ijl FB1i þ B2i Nj D21l 0
6  22ijl GB1i þ B2i Nj D21l T
H T þ C 2lT N jT D T12i 7
6 C 1i 7
ijl ¼ 6 7; ð24Þ
4   
2 I D 11i H T þ D T21l N jT D T12i 5
T

   I  H  HT

where:
in middle-frequency range,

11 ¼ Q  F  F T ;
12ijl ¼ j!c Q þ P þ FAi  G T þ B2i Nj C2l ;
22ijl ¼ !1 !2 Q þ symfGAi þ B2i Nj C2l g ;

in low-frequency range,

11 ¼ Q  F  F T ;
12ijl ¼ P þ FAi  G T þ B2i Nj C2l ;
22ijl ¼ ! 2l Q þ symfGAi þ B2i Nj C2l g ;

1950023-8
 Finite-Frequency SOF H ∞ Control of Continuous-Time T–S Fuzzy Systems

in high-frequency range,
11 ¼ Q  F  F T ;
12ijl ¼ P þ FAi  G T þ B2i Nj C2l ;
22ijl ¼ ! 2h Q þ symfGAi þ B2i Nj C2l g :
Also
2 3
0 FB2i  B2i M
6 CTNT

6 GB2i  B2i M 7
7 R 0
ijl ¼ 6 T2l jT 7; ¼ ;
4 D 21l N j 0 5 0  2 R  M  M T
0 HD12i  D12i M
" #
F  F T P  þ FAi  G T þ B2i Nj C2l
ijl ¼ ; ð25Þ
 symfGAi þ B2i Nj C2l g
" #
0 FB2i  B2i M
#ijl ¼ :
T
C 2l N jT GB2i  B2i M

Furthermore, the SOF controller gain matrices are given by Kj ¼ M 1 Nj ;

j ¼ 1; 2; . . . ; r.

Proof. Suppose that inequality (18) holds, it implies that I  H  H T < 0 and
 2 R  M  M T < 0 with  2 R > 0, which guarantee M and H are nonsingular.
From (18)(20) we have
X
r X
r X
r
hi hj hl ijl < 0 ; ð26Þ
i¼1 j¼1 l¼1

where


ijl ijl
ijl ¼ : ð27Þ
 
By Lemma 4 and the Schur complement, the inequality (26) implies that
2 3 2 3T
0 0
6 T T 7 6 T T 7
6 C N 7 6 7
6 2l j 7 1 6 C 2l N j 7
 ijl ¼ ijl þ 6
7R 6 7
6 DT N T 7 6 DT N T 7
4 21l j 5 4 21l j 5
0 0
2 3 2 3T
FB2i  B2i M FB2i  B2i M
6 7 6 7
6 GB2i  B2i M 7 6 GB2i  B2i M 7
þ6 6 7 T 1 1 6 7 < 0:
7ðM R MÞ 6 7 ð28Þ
4 0 5 4 0 5
HD12i  D12i M HD12i  D12i M

1950023-9
R. Chaibi et al.

By Lemma 3 and de¯ning Nj ¼ MKj , we can verify that (28) is equivalent to

2 32 3T 2 32 3
FB2i  B2i M 0 0 FB2i  B2i M T
6 76 C 2lT K jT 7 6 C T K T 76 GB  B M 7
 ijl ¼ ijl þ6 GB2i  B2i M 76
6
7
7 þ
6 2l j 76
6 T 7
2i 2i 7 < 0:
4 0 54 T T5 4 D 21l K jT 54 0 5
D 21l K j
HD12i  D12i M 0 0 HD12i  D12i M
ð29Þ
Substituting (24) into (29) gives the inequality
2  12ijl 
 13ijl 3
 11  0
6    23ijl
 22ijl   24ijl 7
6  7
 ijl
¼6 7 < 0; ð30Þ
4   
I2  34ijl 5
   I  H  HT

where

 11 ¼ 1  F  F T ;

 12ijl ¼ 2 þ FAi  G T þ FB2i Kj C2l ;

 22ijl ¼ 3 þ symfGAi þ GB2i Kj C2l g ;

 13ijl ¼ FB1i þ FB2i Kj D21l ;

 23ijl ¼ GB1i þ GB2i Kj D21l ;

 24ijl ¼ C 1i
 T
H T þ C 2l
T
K jT D T12i H T ;
 34ijl ¼ D T11i H T þ D T21l K jT D T12i H T ;


with 1 ; 2 and 3 being de¯ned in Table 1.

Considering the fact that ðV  XÞX 1 ðV  XÞ T  0; X > 0, which implies that
VX 1 V T  V  V T þ X, multiplying (30) by diagfI; I; I; H 1 g on the left and
 B;
its transpose on the right and replacing A;  C and D
 by their expressions in (8), we
get the inequality in (13).
From (21)–(23) we have

X
r X
r X
r
hi hj hl ’ijl < 0 ; ð31Þ
i¼1 j¼1 l¼1

where


ijl #ijl
’ijl ¼ < 0: ð32Þ
 

1950023-10
 Finite-Frequency SOF H ∞ Control of Continuous-Time T–S Fuzzy Systems

By Lemma 4 and the Schur complement, the inequality (32) implies that
" # " #T
0 0
1
 ijl ¼ ijl þ
’ T
R
C 2l N jT T
C 2l N jT
" # " #T
FB2i  B2i M T 1 1
FB2i  B2i M
þ ðM R MÞ < 0: ð33Þ
GB2i  B2i M GB2i  B2i M

We can easily verify that (33) implies (34) by Lemma 3 and de¯ning Nj ¼ MKj :

" #T " #
T
FB2i  B2i M 0 0 FB2i  B2i M
’
 ijl ¼ ijl þ þ < 0: ð34Þ
GB2i  B2i M T
C 2l K jT C 2lT K jT GB2i  B2i M

Substituting (25) into (34) gives the inequality

" #
 11 
  12ijl
’ ijl ¼
 < 0; ð35Þ
   22ijl

where
 11 ¼ F  F T ;

 12ijl ¼ P
  þ FAi  G T þ FB2i Kj C2l ;
 22ijl ¼ symfGAi þ GB2i Kj C2l g :


From (35) and tacking account of (8), we obtain (14).

This completes the proof.
Remark 2. Theorem 2 presents a ¯nite-frequency H1 SOF fuzzy controller design
technique, which can reduce the conservativeness introduced by entire-frequency
(EF) methods, when frequency ¯elds of disturbances are known.

Remark 3. The SOF conditions derived in Refs. 7, 16, 18, 19 and 34 present
bilinear terms PBi Kj Cl that make these conditions hardly tractable numerically. To
overcome this problem, Refs. 18 and 34 used the equality conditions PBi ¼ Bi M,
i ¼ 1; . . . ; r. Then Refs. 7, 16 and 19 introduced a su±cient condition for the
elimination of the equality conditions PBi ¼ Bi M. Inspired by these works, this
paper studies the SOF H1 controller design with ¯nite-frequency speci¯cation
without any equality constraint.

4. Numerical Examples
In this section, we will use two practical examples to demonstrate the e±ciency of our
approach.

1950023-11
R. Chaibi et al.

Example 1. Consider the nonlinear massspringdamper mechanical system in

Refs. 29. The equations of massspringdamper are
M x€ðtÞ þ c1 xðtÞ
_ þ c2 xðtÞ ¼ ð1 þ c3 x_ 3 ðtÞÞuðtÞ þ !ðtÞ ; ð36Þ
where M; uðtÞ and !ðtÞ are the mass, the force and the disturbance, respectively, and
the nonlinearity is given by x_ 3 ðtÞ. The parameters of the mechanical system are as
follows:
M ¼ 1; c1 ¼ 1; c2 ¼ 1:155 and c3 ¼ 0:13. Based on Ref. 29, if the states are
velocity and position [x1 ðtÞ ¼ xðtÞ
_ and x2 ðtÞ ¼ xðtÞ], then we de¯ne




2x2 ðtÞ y1 ðtÞ x1 ðtÞ
zðtÞ ¼ ; yðtÞ ¼ ¼ : ð37Þ
2uðtÞ y2 ðtÞ 2x1 ðtÞ þ x2 ðtÞ

If x1 ðtÞ 2 ½1:5 1:5
, then the nonlinear mass–spring–damper (36) can be de-
scribed by the following T–S model:
X
2
xðtÞ
_ ¼ h1 ðx1 ÞðtÞfAi xðtÞ þ B1i !ðtÞ þ B2i uðtÞg ;
i¼1
X
2
zðtÞ ¼ h1 ðx1 ÞðtÞfC1i xðtÞ þ D11i !ðtÞ þ D12i uðtÞg ;
i¼1
X
2
yðtÞ ¼ h1 ðx1 ÞðtÞfC2i xðtÞ þ D21i !ðtÞg ;
i¼1

where





1 1:155 1 1:155 1 1:4387
A1 ¼ ; A2 ¼ ; B11 ¼ B12 ; B21 ¼ ;
1 0 1 0 0 0




0:5613 0 2 0
B22 ¼ ; C11 ¼ C12 ¼ ; D121 ¼ D122 ¼ ;
0 0 0 2



1 0 0
C21 ¼ C22 ; D111 ¼ D112 ¼ D211 ¼ D212 ¼ ;
2 1 0

where the membership functions are

x 31 ðtÞ
h1 ðx1 ðtÞÞ ¼ 0:5 þ ; h2 ðx1 ðtÞÞ ¼ 1  h1 ð 1 ðtÞÞ :
6:75
Table 2 shows the values of
obtained with the full-frequency approach exis-
ting in Ref. 29 and the ¯nite-frequency approach presented in this paper. We can
see that the proposed approach provides better results than the existing ones.
Now, by using Theorem 2 for LF, when  ¼ 5, and !l ¼ 1, we can obtain the
lower bound of H1 level
min ¼ 2:7296, and the SOF H1 controller, K1 ¼ ½0:2342
0:1210
; K2 ¼ ½0:1056 0:0554
. The simulation results are shown in Figs. 1–3.

1950023-12
 Finite-Frequency SOF H ∞ Control of Continuous-Time T–S Fuzzy Systems

Table 2. Values of
for Example 1.

Methods Theorem 1 in Ref. 29 Theorem 2 (with Q ¼ 0) Theorem 2 (in LF with j!j  1)

3 2.7303 2.7296

1
x (t)
1
x2 (t)

0.5

-0.5

-1

-1.5

-2
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

Fig. 1. State trajectories of the closed-loop nonlinear system (36).

0.5
[29]
Theorem 2 for LF
0.4

0.3

0.2
u(t)

0.1

-0.1

-0.2
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

Fig. 2. Control signals generated by the static output feedback controller for the nonlinear system (36).

1950023-13
R. Chaibi et al.

2.5
γ(t)
γmin
2
γ(t)

1.5

0.5

0
0 5 10 15 20
Time (sec)

qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
R1
z T ðtÞzðtÞdt
The ratio
ðtÞ ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi for the nonlinear system (36).
0
Fig. 3. R1
! T ðtÞ!ðtÞdt
0

Figures 1 and 2 show the state response and the control input of the closed-loop system,
with !ðtÞ ¼ 0 and xð0Þ ¼ ½1 1:4
T .
From Fig. 1, it is possible to conclude that the closed-loop system is asymptoti-
cally stable. From Fig. 2, it is seen that the proposed control law converges faster
than in Ref. 29. The plot of the ratio is shown in Fig. 3 under the initial condition
xð0Þ ¼ ½0 0
T when !ðtÞ ¼ sinð2tÞ, it is clear that this ratio tends to a constant
value, which is less than the prescribed value of
¼ 2:7296.

Example 2. Consider a permanent magnetic synchronous motor (PMSM).30 The

fuzzy PMSM was modeled by a two-rule fuzzy model31 and was modi¯ed in Ref. 23:
8
> : R
>
> i d ðtÞ ¼  id ðtÞ þ np iq ðtÞW ðtÞ þ  d ðtÞ ;
>
>
>
>
L
< : R
i q ðtÞ ¼  id ðtÞ þ np id ðtÞW ðtÞ  W ðtÞ þ  q ðtÞ ; ð38Þ
>
> L L
>
>
>
> 
>
:W_ ðtÞ ¼ iq ðtÞ  W ðtÞ þ 2!ðtÞ ;
L j

where iq ðtÞ and id ðtÞ are the quadrature and direct current, respectively. W ðtÞ is the
motor angular velocity. vq ðtÞ and vd ðtÞ are the quadrature and direct input voltages.
np ¼ 1 and ¼ 0:031 N  m/A denote the number of pole-pairs and the permanent
magnet °ux, respectively, L ¼ 0:01425 H is the direct quadrature-axis stator

1950023-14
 Finite-Frequency SOF H ∞ Control of Continuous-Time T–S Fuzzy Systems

inductor, R ¼ 0:9  is the stator winding resistance and j ¼ 4:5  10 5 kgm2 is the
polar moment of inertia.  ¼ 0:0162 N/rad/s is the viscous damping coe±cient.
The readers can refer to Refs. 36 and 37 for more discussions about the PMSM,
see also the papers dealing with the fuzzy-approximation-based adaptive control,
e.g., Ref. 38.
The controlled outputs are as follows:

z1 ðtÞ ¼ 2ð1 þ @Þid ðtÞ þ 4iq ðtÞ þ 4W ðtÞ þ iq ðtÞW ðtÞ þ W ðtÞ 2 þ 0:1!ðtÞ ;
z2 ðtÞ ¼ !ðtÞ ;

with @ being an uncertain parameter, in this paper we assume that @ ¼ 0.

For W ðtÞ 2 ½1 ; 2
, the PMSM is modeled with a two-rule fuzzy system with the
following parameters i ¼ 1; 2:
2 3 2 3
R R
6  n 
p 1 0 7 6  n 
p 2 0 7
6 L 7 6 L 7 2 3
6 7 6 7 0
6 R 7 6 R 7
A1 ¼ 6 np 1   7 ; A2 ¼ 6 np 2   7 ; B1i ¼ 0 5 ;4
6 L L7 6 L L7
6 7 6 7 2
4  5 4  5
0  0 
L j L j
2 3
1 0



4 5 2 3 5 2 5 3 0:1
B2i ¼ 0 1 ; C11 ¼ ; C12 ¼ ; D1i ¼ ;
0 0 1 0 0 1 0
0 0



0 0 0
D21i ¼ ; D12i ¼ :
0 0 0

The membership functions are represented as

2  W ðtÞ
h1 ðW ðtÞÞ ¼ ; h2 ðW ðtÞÞ ¼ 1  h1 ðW ðtÞÞ ; ð39Þ
2  1

xðtÞ ¼ ½i Td ðtÞ i Tq ðtÞ W T ðtÞ
T and uðtÞ ¼ ½ Td ðtÞ  Tq ðtÞ
T . Assume that only iq ðtÞ and
W ðtÞ are measurable variables and the measurable output is the nonlinear function:

y1 ðtÞ ¼ iq ðtÞW ðtÞ ; y2 ðtÞ ¼ W ðtÞ ;

then



0 1 0 0 2 0
C21 ¼ ; C22 ¼ :
0 0 1 0 0 1

For 1 ¼ 1 and 2 ¼ 1, the value of H1 norm bound obtained by Theorem 2 and

the results of Refs. 23 and 31 are shown in Table 3. When choosing the parameter

1950023-15
R. Chaibi et al.

Table 3. Values of
for Example 2.

Methods Refs. 23 and 31 EF Q ¼ 0 LF !  1 MF 1  !  10

0.5 0.1282 0.1277 0.1002

1
x (t)
1
x2 (t)
x (t)
3

0.5

-0.5
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)

Fig. 4. Trajectories for the PMSM (Example 2).

1.5
[31]
[23]
1 Theorem 2 for LF

0.5

0
ν d (t)

-0.5

-1

-1.5

-2
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)

Fig. 5. Trajectories of direct input voltage  d ðtÞ (Example 2).

1950023-16
 Finite-Frequency SOF H ∞ Control of Continuous-Time T–S Fuzzy Systems

60
[31]
[23]
50 Theorem 2 for LF

40
0.8

30 0.6
ν q (t)

0.4
20 0.2

0
10
0 0.01 0.02 0.03 0.04

-10
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)

Fig. 6. Trajectories of quadrature input voltage  q ðtÞ (Example 2).

 ¼ 0:1 for LF case, we get the SOF H1 controller gains as follows:



0:5517 0:0099 1:3592 0:0051
K1 ¼ ; K2 ¼ :
8:7011 0:4661 8:7061 0:4420

Suppose the initial state xð0Þ ¼ ½1 0:5 0:5
T and !ðtÞ ¼ cosð100tÞ, the simu-
lation results are shown in Figs. 4–6. Figure 4 shows the state responses of the closed-
loop T–S fuzzy system (38). Figures 5 and 6 illustrate the responses of direct input
voltage  d ðtÞ and the quadrature input voltage  q ðtÞ, respectively, by Theorem 2 in
LF range and the results in Refs. 23 and 31. It is clear that our approach provides
faster responses. Table 3 shows the
values of the EF results existing in Refs. 23
and 31 and the ¯nite-frequency method presented in this paper for di®erent fre-
quency domains. It is clear that the presented method gives better results than the
existing ones for this example.

5. Conclusions
In this paper, the ¯nite-frequency H1 static output feedback control for a class of
continuous-time T–S fuzzy systems has been studied. With the aid of the GKYP
lemma, su±cient conditions for the existence of fuzzy SOF H1 controller are derived.
The design conditions are presented in the form of LMIs. Our approach allows to
design the SOF H1 controller without any equality constraint and avoids bilinearity,
which represent an advantage over some methods in literature, see, for example,

1950023-17
R. Chaibi et al.

Refs. 31 and 34. Furthermore, when the frequency range is known, our approach
reduces the conservativeness introduced by the entire-frequency methods such as
those in Refs. 23, 29 and 31. This is illustrated by two numerical examples.

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