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Fuzzy Sets and Systems 263 (2015) 92–111
www.elsevier.com/locate/fss

Fuzzy dynamic output feedback control through nonlinear

Takagi–Sugeno models ✩
Michael Klug a , Eugênio B. Castelan a , Valter J.S. Leite b,∗ , Luís F.P. Silva a
a CSM-DAS-UFSC, Florianópolis (SC), Brazil
b PPGEL/CEFET-MG, Divinópolis (MG), Brazil

Received 22 August 2013; received in revised form 21 May 2014; accepted 27 May 2014
Available online 2 June 2014

Abstract
We present a convex way to design a fuzzy dynamic output feedback compensator for locally stabilizing a class of nonlinear
discrete-time systems. This class consists of the systems described by Takagi–Sugeno (T–S) models with a sector bounded non-
linear additive term and saturated control signals. The local stabilization takes into account the domain of validity of these T–S
models, which is a key issue for practical applications. Two types of nonlinear fuzzy compensators are considered, one having
all matrices of the controller depending on fuzzy-grade membership functions and the other with only a subset of the matrices
with such a dependency. The controller design includes a fuzzy anti-windup gain that handles saturating actuators. Besides, a
time-performance index based on the λ-contractivity of the level set of the fuzzy Lyapunov function is proposed regarding the
closed-loop system. Examples are given to illustrate the effectiveness of this proposal.
© 2014 Elsevier B.V. All rights reserved.

Keywords: Nonlinear Takagi–Sugeno models; Fuzzy Lyapunov function; Fuzzy anti-windup gain; Control signal saturation; Local stability;
Output feedback

1. Introduction

The fuzzy Takagi–Sugeno (T–S) model [1] has been a successful approach to deal with fuzzy-model-based (FMB)
control in the past decades. An important reason for it is that T–S models provide a representation of nonlinear
plants by blending of local linear models. Thus, instead of using the nonlinear representation of the system, stability
analysis and control design techniques have been developed to handle local linear models of T–S description. Such
an approach allows, for example, the design of parallel-distribution-compensation (PDC) as introduced in [2]. A great
repercussion of fuzzy T–S models can be verified in many practical FMB control systems (see, for instance, [3–6]
and references therein), where the presence of some nonlinear dynamical characteristics and practical constraints —

✩
Authors thanks the financial support from the Brazilian Agencies CAPES, CNPq (grants 303461/2012-8 and 306150/2013-1) and FAPEMIG.
* Corresponding author.
E-mail addresses: micklug@gmail.com (M. Klug), eugenio.castelan@ufsc.br (E.B. Castelan), valter@ieee.org (V.J.S. Leite),
lf.luis1984@gmail.com (L.F.P. Silva).

http://dx.doi.org/10.1016/j.fss.2014.05.019
0165-0114/© 2014 Elsevier B.V. All rights reserved.
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 93

inherent to plants, actuators, and sensors — are usually neglected in the control design procedure. Several researches
have exploited the linear characteristics of the local sub-models appearing in the T–S approach, and most of them
have used the Lyapunov approach to obtain stability analysis as well as compensator design conditions.
A considerable amount of results available in literature (see for example [3–5]) consist of formulating analysis
and synthesis conditions as convex optimization problems described in terms of linear matrix inequalities (LMIs) [7].
The majority of such results concern continuous-time fuzzy systems, although most of such systems are nowadays
controlled by digital platforms (for example, using microcontrollers) [8]. Besides, the treatment of discrete-time T–S
fuzzy models plays a key role for controlling both purely discrete-time systems and hybrid control systems. It is also
interesting to note that the analysis and synthesis of output feedback controllers using fuzzy T–S models have been
receiving special attention in the literature (for instance, see [9,10] for delay free systems and, see [11] for systems
with delayed state vector). The main motivation of this work comes from practical applications where control signals
are bounded and the trajectories of the systems should be constrained in a region of the state space for safety or for
operational restrictions. These fundamental practical requirements are often neglected in the fuzzy literature. Further-
more, we are also interested in exploiting the use of local nonlinear T–S models to enhance the fuzzy representation
of the nonlinear system.
A source of difficulty in using T–S models to describe a nonlinear system precisely is that the number of rules
augment exponentially with the number of non-linearities thus complicating the analysis of the system [12]. An
approach proposed in [13] introduces generalized T–S models to reduce the number of rules necessary to describe a
plant. In [14,15] another approach is proposed allowing some nonlinear terms to explicitly appear in the local models.
Although the linearity of local models is lost, the nonlinear T–S approach can be quite interesting, once it allows to
bring the mathematical machinery developed to handle sector non-linearities to FMB control systems as, for example,
in the absolute stability theory [16,17]. Thus, the nonlinear system can be described as a blend of local Lur’e systems
which also allows to reduce the number of rules necessary to represent the system. This approach is further investigated
in this paper to provide a convex solution to the problem of stabilizing by a given output feedback structure a nonlinear
discrete-time system, subject to saturated control signal, by using a fuzzy dynamic output feedback controller.
Even though many stability analysis and synthesis conditions have been extensively developed in the past years,
there are some practical motivated issues that remain open in the context of FMB control systems. Some of them
may compromise stability analysis and synthesis conditions used nowadays. Among them, we can first cite the region
of operation of a plant or the domain of validity of the model used in FMB control system and second, the possible
occurrence of saturation due to the physical limitations of the actuators. In the former, the problem consists in de-
signing a controller such that the trajectories of the closed loop system remain in a specified sub-region of the state
space (containing the origin). Note that, if the designed controller is not able to assure this specification, either the
state vector of the system may go to an undesirable condition — for example, compromising security limits of oper-
ation — or it may reach regions where the T–S model no more represents the dynamics of the controlled system. As
a consequence of such domain violation, the FMB control system can lose performance or even its stability, as it will
be shown firstly by a motivating example (see Remark 1). In the case of saturated control signals, similar problems
of loss of performance as well as stability can be found. Such an issue has not been dealt in the great majority of
previous works found in the FMB control literature, although local stabilization has been already addressed in [18]
in the context of continuous-time systems through a Lyapunov function depending on the membership functions. To
deal with such issue, LMI conditions have been proposed to synthesize stabilizing control laws for nonlinear systems
subject to amplitude limitations of the actuator and for which the dynamics can be decomposed into the feedback in-
terconnection of a linear system with a sector-bounded nonlinearity: [19,20] for precisely known systems, and [21,22]
for some parameter-varying nonlinear systems. In these works, the considered control law consists of the feedback of
the systems states and of the non-linearity associated with the plant dynamics. The synthesis of a dynamic output feed-
back compensator for continuous and time-invariant Lur’e systems has been considered in [23]. Differently from [24],
the approach in [23] considers the two sector bounded non-linearities simultaneously and furthermore, the proposed
stabilization conditions are stated in LMI form. However, few results using the mentioned Lur’e type decomposition
are found in the context of fuzzy systems. We can cite [14,15] where a nonlinear T–S model has been built to reduce
the number of used fuzzy rules.
In the present work we extend the methodology described above for the synthesis of nonlinear fuzzy (or, simply
N-Fuzzy) dynamical output feedback compensators for discrete-time T–S nonlinear systems subject to actuators lim-
itations. An LMI framework is proposed to design this new class of nonlinear PDC based on some tools from the
94 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

absolute stability theory, on a modified sector condition to take into account input saturation effects, and using the
concept of contractive sets applied to a level set obtained from a fuzzy membership dependent Lyapunov function that
can be seen as the discrete-time counterpart of the one used in [18]. With this framework, we can obtain asymptotic
local stability and the respect of some imposed constraints on the closed-loop system’s trajectories. In this way, the
presented approach can take advantage of a simplified system modeling under nonlinear T–S representation, getting
a few number of membership grade rules and, more straightforwardly, handling some nonlinear terms present in the
practical systems, dealing with them as sector-bounded non-linearities. Two types of N-Fuzzy compensators are con-
sidered as functions of the dependency of the compensator matrices on the fuzzy-grade membership functions. In both
cases, using an approach inspired from [25], convex optimization problems are proposed to compute the controller
matrices aiming at the maximization of the domain of attraction of the closed-loop system. In the special case of a
partial dependency on the parameters, a similar technique has been used as given in [26], but in a different context
where the plant was considered to be represented by a linear time-invariant system, and a polytopic model is used to
model the saturation. Besides, the designed controllers have a fuzzy anti-windup gain that can provide an auxiliary
signal to mitigate the bad effects of the control saturation [27]. The performance of the closed-loop system can be
improved by convex optimization problems that deals with the λ-contractivity measure of the level set associated to
the fuzzy Lyapunov function. Once λ ∈ (0, 1], the smaller the value of λ, the faster the convergence of the nonlinear
closed-loop system’s trajectories inside the considered contractive level set.
Summarizing, the main contributions in this paper are to provide a convex formulation to design dynamic output
feedback controllers that, by using nonlinear T–S local models, take into account practical limitations of real nonlinear
systems, such as control signals saturation and state space constraints represented by the domain of validity of the
fuzzy model. Besides, the proposed design includes a fuzzy anti-windup gain which is recognized as a necessary issue
to better take into account control saturations in practical applications, and embed a performance index based on the
contractivity of the Lyapunov level sets. Thus, to handle saturation and the considered state space constraints, we
propose an estimate of the basin of attraction for the closed-loop system allowing a control that assures the evolution
of closed-loop trajectories inside the domain of validity and also control signals saturation.
The paper is organized as follows. In Section 2 we present the formulation of the problem and also introduce a
motivating example. Some preliminary concepts and stability results are stated in Section 3. Section 4 is concerned
with the proposition of the local stabilization conditions, and also with two convex optimization problems for synthe-
sizing the compensators. In Section 5, numerical examples are used to compare the two cases of controller design and
illustrate the merits of the proposed methodology. The paper is finished with some concluding remarks.

Notations. For two symmetric matrices, A and B, A > B means that A − B is positive definite. A denotes the
transpose of A. The symbol A(i) denotes the ith row of matrix A, v(i) is the ith component of vector v and vk is
vector v at the kth sample. Here,  stands for symmetric blocks and • stands for an element that has no influence on
the development. In denotes an n-dimensional identity matrix. diag(A, B) is a block-diagonal matrix.

2. Problem formulation

Consider a discrete-time nonlinear system given by:

xk+1 = f1 (zk )xk + f2 (zk )ϕ(wk ) + f3 (zk ) sat(uk ) (1)

yk = Cxk (2)
where xk ∈ Rn , uk ∈ Rm , and yk ∈ Rq are the state vector, the control input and the output of the system, respectively.
Matrix C ∈ Rq×n is supposed to be time invariant. zk ∈ Rs is a known vector of premise variables which is function
of the output, as well as wk ∈ Rp which is an auxiliary signal vector that describes the output variables involved in the
nonlinear function ϕ(·) : Rp −→ Rp to be specified later in this section. The dynamics of this system is given by the
nonlinear functions f1 (·) : Rs −→ Rn×n , f2 (·) : Rs −→ Rn×p , and f3 (·) : Rs −→ Rn×m , with amplitude-bounded
control inputs given by the standard decentralized saturation function:
      
sat u() (t) = sign u() (t) min ρ() , u() (t) ∀ = 1, . . . , m (3)
where ρ() > 0 denotes the symmetric amplitude bound relative to the th control input.
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 95

A useful way to represent system (1) is by an exact Takagi–Sugeno (T–S) framework, where rules Ri , i = 1, . . . , N ,
and some special nonlinear terms are expressed as follows [14,15]:

Ri : If z1k is M1i and . . . zs k is Msi

⎧
⎨ xk+1 = Ai xk + Gi ϕ(wk ) + Bi sat(uk )
⎪
Then yk = Cxk (4)
⎪
⎩
wk = L̄yk = Lxk
with Mji , j = 1, . . . , s, representing the fuzzy set j of each rule i, and matrices Ai ∈ Rn×n , Gi ∈ Rn×p , Bi ∈ Rn×m ,
L = L̄C ∈ Rp×n and L̄ with appropriate dimensions.
An important issue not addressed in the literature related to fuzzy control systems is that the nonlinear T–S repre-
sentation (4) usually has a specific bounded domain of validity w.r.t. (1). One way to represent such domain of validity
is by a polyhedral set χ0 ⊂ Rn given by

χ0 = xk ∈ Rn ; |L0 xk | ≤ φ , (5)
with L0 ∈ Rr×n , r ≤ n, and φ ∈ Rr . It is worth mentioning that inequality (5) can be verified componentwise, i.e.
|L0(i) xk | ≤ φ(i) , i = 1, ..., r. Such domain of validity must be taken into account by any control synthesis or stability
analysis conditions that assumes description (4) instead of (1). In effect, loss of performance or even instability may
occur when state trajectories evolve outside the domain of the validity of the model (4), in which case such model
no more represents the original nonlinear system (1). In this sense, one purpose of the present work is to handle the
domain of the validity of the T–S model into the controller synthesis stage to assure local closed-loop stability. In
addition, due to the saturation nonlinearity present in (4) stability analysis is required to be handled in a local context.
Note that as discussed in [15], the introduction of the nonlinear function ϕ(·) in (4) may retain some non-linearities
from the original system (1), allowing a reduction of the number of rules compared with the T–S representation with
local models that are purely linear. Following [16], such nonlinear function is supposed to verify a cone bounded
sector condition ϕ(·) ∈ [0, Ω], i.e., a matrix 0 < Ω = Ω  ∈ Rp×p exists such that
 
ϕ  (wk )Δ−1 ϕ(wk ) − ΩLxk ≤ 0, ∀xk ∈ χ0 , ϕ(0) = 0 (6)
where Δ ∈ Rp×p is any positive diagonal matrix: Δ  diag{δf }, δf > 0, f = 1, . . . , p and Ω ∈ Rp×p is assumed
to be a known design parameter. From the definition of Δ, we see that if (6) is verified then p independent classical
 (w )[ϕ(w ) − ΩLx ]
conditions, ϕ(f ) k k k (f ) ≤ 0, are also assured. Thus, Δ represents a degree of freedom for the purpose
of design and optimization.
Consider αk ≡ α(zk ) ∈ Ξ such that

N
Ξ = αk ∈ R : N
αk(i) = 1, αk(i) ≥ 0, i = 1, . . . , N , (7)
i=1

and
μM i (zk(1) ) × μM i (zk(2) ) × · · · × μMsi (zk(s) )
αk(i) = N 1 2

i=1 (μM i (zk(1) ) × μM i (zk(2) ) × · · · × μMsi (zk(s) ))

1 2

are the normalized grades of membership functions and functions μM i (zj k ) are the grades of member functions
j
corresponding to the fuzzy terms Mji . By using the simplex structure of Ξ , that is necessarily verified if xk ∈ χ0 ,
fuzzy T–S system (4) can be rewritten as the following nonlinear fuzzy system

xk+1 = A(αk )xk + G(αk )ϕ(wk ) + B(αk ) sat(uk ), (8)

with signals wk and yk as in (4) and

  N
A(αk ) B(αk ) G(αk ) = αk(i) [ Ai Bi Gi ] . (9)
i=1
96 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

Once the real-time normalized membership functions αk can be computed in practice, a nonlinear PDC can be pro-
posed with the same fuzzy rules as the nonlinear T–S model. In this case, the following full-order nonlinear fuzzy
(N-fuzzy) dynamical output feedback compensator is investigated:

xck+1 = Ac (αk )xck + Bc (αk )yk + Gc (αk )ϕ(wk ) − Ec (αk )Ψ (uk )

uk = Cc (αk )xck + Dc (αk )yk + Fc (αk )ϕ(wk ) (10)

where xck ∈ Rn and Ψ (·) : Rm → Rm are the dead-zone nonlinearity given by:

Ψ (uk ) = uk − sat(uk ) (11)

As assumed in [28], the feedback controller (10) requires either the knowledge of ϕ(·) or its availability as a signal
whenever Gc (αk ) = 0 or Fc (αk ) = 0. In addition, Ec (αk ) is a fuzzy anti-windup gain matrix that helps to mitigate the
effects of the saturation. This fuzzy anti-windup gain is, up to our knowledge, new in the T–S control literature, being
a contribution of this paper. It is worthwhile to say that such anti-windup gain is usually addressed as a constant and
the present proposal may improve the closed loop behavior, once it may contain the time-invariant gain, E(αk ) = Ec ,
as a special case.
Let us define the augmented state vector ξk = [xk xck  ] ∈ R2n . From (8)–(11), we can represent the closed-loop

system by:
 
ξk+1 = A(αk )ξk + G(αk )ϕ(Lξk ) − B(αk )Ψ K(αk )ξk + Fc (αk )ϕ(wk ) (12)

with
   
A(αk ) + B(αk )Dc (αk )C B(αk )Cc (αk ) G(αk ) + B(αk )Fc (αk )
A(αk ) = , G(αk ) =
Bc (αk )C Ac (αk ) Gc (αk )
 
B(αk )  
B(αk ) = , K(αk ) = Dc (αk )C Cc (αk ) and L = [ L 0 ] .
Ec (αk )
Due to constraint (5) on the domain of the validity of the model (8), the closed-loop system described by (12) in such
augmented space is valid only in a subset χ ⊂ R2n where

χ = ξk ∈ R2n ; |Lξk | ≤ φ , (13)

with L = [L0 0r×n ] ∈ Rr×2n .

Thus, the problem of designing a controller (10) such that the closed-loop system remains stable requires handling
the validity region (13) besides a region of initial conditions ξ0 such that the allowed amplitudes of control signals are
sufficient to assure the origin of (1) as an asymptotically stable equilibrium point. Such region of initial conditions
is noted here as S0 and consists of a subset of the domain of attraction of the resulting nonlinear closed-loop system
(1) [16, Sec. 8.2]. As discussed in [29], the basin of attraction can be defined as the set of all ξk such that for all ξ0
belonging to such set the corresponding system’s trajectory converges asymptotically to the origin. It is noteworthy
that an exact characterization of such set is in general not possible. This problem is formalized in the sequel:

Problem 1 (Local asymptotic stabilization with N-Fuzzy compensator). Determine a nonlinear fuzzy dynamic output
feedback (N-Fuzzy) compensator (10), and a region S0 ⊆ R2n , as large as possible, such that the origin of the closed-
loop system (12) is asymptotically stable and for any initial condition ξ0 ∈ S0 , the corresponding trajectories of the
closed-loop system remain in χ .

Two types of N-Fuzzy compensators are addressed as possible solutions of Problem 1, each of them differing only
on the dependency of the matrices of the controller on the membership functions. In the most general case, called here
TDN-Fuzzy compensator, all matrices of the controller depend on the membership functions. In the other case, called
here PDN-Fuzzy compensator, only part of the matrices of the compensator depend on the membership functions.
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 97

In the general case, the TDN-Fuzzy compensator has all of its matrices parameter varying as follows

  N 
N−1 
N
Ac (αk ) Bc (αk ) Gc (αk ) = 2
αk(i) [ Aci Bci Gci ] + αk(i) αk(j ) [ Acij Bcij Gcij ]
i=1 i=1 j =i+1

  
N
Cc (αk ) Dc (αk ) Fc (αk ) Ec (αk ) = αk(i) [ Cci Dci Fci Eci ] (14)
i=1

where αk(i) is the ith component of vector αk ∈ Ξ , Aci ∈ Rn×n , Acij ∈ Rn×n , Bci ∈ Rn×q , Bcij ∈ Rn×q , Gci ∈ Rn×p ,
Gcij ∈ Rn×p , Eci ∈ Rn×m , Cci ∈ Rm×n , Dci ∈ Rm×q , and Fci ∈ Rm×p , i = 1, . . . , N .
For the other case, i.e., the PDN-Fuzzy compensator where not all matrices of the controller have a dependency on
the membership functions, the following structure is adopted:

  N
Ac (αk ) Bc (αk ) Gc (αk ) Ec (αk ) = αk(i) [ Aci Bci Gci Eci ]
i=1
 
Cc (αk ) Dc (αk ) Fc (αk ) = [ Cc Dc Fc ] (15)
where the matrices associated with the compensator output Cc ∈ Rm×n , Dc ∈ Rm×q , and Fc ∈ Rm×p are assumed to
be constant which leads to a simpler description, but less general than that in (14).
Matrices in (12) can be rewritten by using the special structure of the fuzzy compensators. In the case of the
TDN-Fuzzy compensator, taking (14) it is possible to get


N 
N
K(αk ) = αk(i) Ki = αk(i) [ Dci C Cci ] , (16)
i=1 i=1

and
  N 
N−1 
N
A(αk ) G(αk ) = 2
αk(i) [ Ai Gi ] + αk(i) αk(j ) [ Aij Gij ] ,
i=1 i=1 j =i+1

with
     
Gi + Bi Fci Gi + Gj + Bi Fcj + Bj Fci Ai + Bi Dci C Bi Cci
Gi = , Gij = , Ai = ,
Gci Gcij Bci C Aci
 (Ai +Aj )+(Bi Dcj +Bj Dci )C Bi Ccj +Bj Cci 
and Aij = Bcij C Acij . Note that whenever PDN-Fuzzy compensator is considered then
K(αk ) can be simplified as

K(αk ) = K = [ Dc C Cc ] . (17)
Note that the implementation of N-Fuzzy compensator proposed here is made by (14) and (15). A nice characteristic
in this proposal, which can be useful in controlling real systems, is that all matrices on the right-hand side of (14) and
(15) are off-line computed and only the membership functions αk have to be updated at each discrete-time, as usual
in a T–S control framework.
For practical purposes, we consider three relevant issues. The first one is related to the closed-loop performance that
is required to be associated with the stabilization formalized in Problem 1. In this sense, the λ-contractivity criteria is
adopted as a performance measure due the time-varying characteristics of (8). This performance index is required to
be attained by the closed-loop trajectories emanating from S0 and this is detailed in the next section. The second issue
is associated with the presence of limits on the control variables, to the parameter-varying nature of the considered
nonlinear system and to the performance requirement. Such set of aspects justifies that closed-loop stability properties
associated with (12) are investigated in the local asymptotic (LA) stability context. Last but not least, the maximization
of the size of the basin of attraction [16, Sect. 8.2] of the closed-loop system is an implicit objective in the synthesis
of the compensator gains and determination of the region of guaranteed asymptotic stability, S0 .
98 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

Fig. 1. Nonlinear membership functions (s = 4).

Remark 1 (A motivating example). For simplicity, let us treat the following unidimensional nonlinear discrete-time
system without control saturation constraint:
 
xk+1 = xk3 + sin(xk ) + 0.2 + xk2 uk , yk = xk , (18)
and assume as premise variables zk(1) = yk2 and zk(2) = sin(yk ). By considering the domain of validity (5), with L0 = 1
and φ = 5π/12, and using the techniques described in [3,30], we obtain a classical fuzzy T–S model (4) based on four
linear local models, i.e. with Gi = 0 ∀i = 1, ..., 4:
A1 = [2.7135]; A2 = [2.4514]; A3 = [1]; A4 = [0.7379];
B1 = [1.9135]; B2 = [1.9135]; B3 = [0.2000]; B4 = [0.2000]. (19)
The respective four nonlinear membership functions,
αk(1) = N1 M1 , αk(2) = N1 M2 , αk(3) = N2 M1 and αk(4) = N2 M2 ,
xk2 −xk2
with N1 = , N2 = ,
1.7135 1.7135
 sin(xk )−0.7379xk  xk −sin(xk )
, xk = 0 , xk = 0
M1 = xk (0.2621) and M2 = xk (0.2621)
1, xk = 0 0, xk = 0
are depicted in Fig. 1 for the considered domain of validity where the convexity property of set (7) holds true.
Fig. 2(a) depicts the basin of attraction obtained by simulations of the two dimensional closed-loop system com-
posed by the nonlinear system (18) and a dynamic output feedback fuzzy controller computed for stabilizing the T–S
model (19). The dashed lines in this figure indicate the boundary of the domain of validity of the fuzzy T–S model.
The points marked with × correspond to destabilizing initial conditions, that is, points not belonging to the basin of
attraction. The points marked with ◦ belong to the considered basin of attraction but part of the corresponding trajec-
tories evolve outside the domain of validity of the T–S fuzzy model. The other unmarked points complete the basin of
attraction for the considered range of closed-loop initial conditions. Fig. 2(b) depicts state trajectories corresponding to
initial conditions chosen in the three mentioned regions of Fig. 2(a). It is remarkable, as shown in Figs. 2(a) and 2(b),
that a compensator that in theory globally stabilizes the fuzzy T–S closed-loop system may produce destabilizing ini-
tial conditions even inside the domain of validity when applied to the original nonlinear system (18). On the other hand,
the use of some adequate techniques to take into account the domain of validity may prevent or minimize the presence
of destabilizing initial conditions inside this domain, as will be shown later (see the numerical example section).

3. Preliminary results

Consider a fuzzy Lyapunov function (FLF) depending on the membership function αk ∈ Ξ , with Ξ given in
(7), such that V (ξk , αk ) : R2n × Ξ −→ R. The level set associated with V (ξk , αk ) is given by LV  {ξk ∈ R2n ;
V (ξk , αk ) ≤ 1, αk ∈ Ξ }. Based on the definition of contractive sets provided in [16], the λ-contractivity index given
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 99

Fig. 2. (a) Basin of attraction using a dynamic output feedback controller adapted from Theorem 8.10 in [30] for globally stabilizing the fuzzy T–S
closed-loop system; (b) State trajectories for two stabilizing initial conditions, ξ0 = [0.75 0] marked with 2, ξ0 = [1 0] marked with ◦, and for a
destabilizing one, ξ0 = [−1.2 0] marked with ×.

in what follows is used to improve the performance of the closed-loop system (12), being considered at the design
stage of the fuzzy compensator (10):

Definition 1. Consider a real scalar λ ∈ (0, 1]. The level set LV is λ-contractive, with respect to the trajectories
solutions of system (12), if

ΔVλ (ξk , αk )  V (ξk+1 , αk+1 ) − λV (ξk , αk ) < 0, ∀ξk ∈ LV , ∀αk ∈ Ξ. (20)

From (20), it follows that for all k > 0 there exists 0 < λk < λ such that

V (ξk , αk ) = λk V (ξk−1 , αk−1 ). (21)


Considering the definitions of LV and (21), k̄ > 0 being any discrete-time instant and defining λ̄ = max1≤k≤k̄ λk , it
follows that
 k̄ 

V (ξk̄ , αk̄ ) = λk V (ξ0 , α0 ) ≤ λ̄k̄ ,
k=1

for any initial condition ξ0 ∈ LV and for any sequence αk , k = 0, 1, . . . , k̄, with αk ∈ Ξ . Thus, by letting k → ∞,
because λ̄ < 1 it follows from Definition 1 that any closed-loop trajectory of system (12) starting from LV , asymp-
totically converges to the origin of R2n with a speed of convergence associated with the contractivity coefficient λ.
Furthermore, we can also deduce that the smaller λ ∈ (0, 1] is, the faster is the asymptotic convergence to the origin.
We consider the following FLF candidate:

V (ξk , αk ) = ξk Q−1 (αk )ξk (22)

 
where Q(αk ) = N i=1 αk(i) Qi , 0 < Qi = Qi ∈ R
2n×2n . The level set obtained from (22) is given by the intersection of

ellipsoidal sets [22,31]:

      

LV  E Q−1 (αk ) = E Q−1

i , where E Q−1 i = ξk ∈ R2n ; ξk Q−1
i ξk ≤ 1 . (23)
i=1,...,N

The desired asymptotic stability property for the closed-loop system (12) is guaranteed by first assuring that the
λ-contractive set relative to the system (8), LV = E(Q−1 (αk )), is inside the domain χ given in (13). We recall that
100 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

χ is the set where, by hypothesis, the nonlinear closed-loop dynamical behavior is well represented by the fuzzy
closed-loop system (8).

Lemma 1. Consider matrix L in (13) and the respective vector φ. If there exist symmetric positive definite matrices
Qi ∈ R2n×2n , i = 1, . . . , N , and a matrix U ∈ R2n×2n such that
 
−Qi + U + U U L(ι)
2 ≥ 0 ∀i = 1, ..., N and ∀ι = 1, ..., r, (24)
 φ(ι)
then E(Q−1 (αk )) ⊆ χ .

Proof. Note that owing to the positivity of Qi , U is regular whenever (24) is verified. Now, consider (24) multiplied by
αk(i) and summed up on i = 1, . . . , N . By using the fact (U − Q(αk ))Q−1 (αk )(U − Q(αk )) ≥ 0, the block (1, 1) can be
overbounded by U Q−1 (αk )U. The obtained inequality can be pre-multiplied by diag((U−1 ) , Ir ) and post-multiplied
by its transpose, and applying Schur’s Complement [7] it yields ∀ι = 1, . . . , r:
 −1 
Q (αk ) L(ι) 1
2 ≥ 0 ⇔ ξk L(ι) 2 L(ι) ξk ≤ ξk Q−1 (αk )ξk , ∀αk ∈ Ξ.
 φ(ι) φ(ι)

This implies that E(Q−1 (αk )) ⊆ χ (see, for instance, [7,22]). 2

As a consequence of Lemma 1, if E(Q−1 (αk )) is λ-contractive, then every trajectory initiated in it remains in χ
and asymptotically converges to the origin.
Next, to consider that the control inputs may saturate, one can use the modified sector condition associated with
the dead-zone nonlinearity Ψ (uk ) [32]. This modified sector condition is, in general, locally verified in a polyhedral
set S(ρ, αk ), that for the present control fuzzy problem can be defined by:
  

S(ρ, αk ) = ξk ∈ R2n and  K(αk ) − Y(αk ) ξk  ≤ ρ, ∀αk ∈ Ξ , (25)

N
where K(αk ) is defined by (16) or (17), and Y(αk ) = i=1 αk(i) Yi , with Yi ∈ Rm×2n .

Lemma 2. Consider matrix Ki given in (16) and the vector ρ with the symmetric amplitude bounds relative to the
control input. If there exist symmetric positive definite matrices Qi ∈ R2n×2n , i = 1, . . . , N , and matrices U ∈ Rm×2n
and H ∈ R2n×2n such that
 
−Qi + U + U U Ki() − Hi()
2 ≥ 0,
 ρ()
∀i = 1, . . . , N and ∀ = 1, . . . , m. (26)
then, by setting Yi = Hi U−1 , one has the inclusion E(Q−1 (αk )) ⊆ S(ρ, αk ). Furthermore, the following modified
sector condition holds true for all ξk ∈ E(Q−1 (αk )):
 
Ψ  (uk )S −1 Ψ (uk ) − Y(αk )ξk − Fc (αk )ϕ(wk ) ≤ 0, (27)
for any diagonal positive definite matrix S ∈ Rm×m .

Proof. The inclusion E(Q−1 (αk )) ⊆ S(ρ, αk ) is similar to the inclusion considered in Lemma 1 and can be proven
likewise. Thus, by following similar steps as in the proof of Lemma 1 in [32], it can be shown that the sector condi-
tion (27) holds true for all ξk ∈ S(ρ, αk ). Hence, it also holds true for all ξk ∈ E(Q−1 (αk )) ⊆ S(ρ, αk ). 2

Note that the sector condition (27) can be viewed as an extension of the modified sector condition used in [20],
allowing the dependency on the membership function αk to be taken into account.
The following condition deals with the LA-stability analysis of the closed-loop system (12) for a given TDN-Fuzzy
Compensator. This condition can be obtained from relation (20) and by using Lemmas 1 and 2.
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 101

Lemma 3 (LA-Stability Analysis using TDN-Fuzzy Compensator). Let Aci , Acij , Bci , Bcij , Gci , Gcij , Eci , Cci , Dci ,
and Fci be given matrices that form structure (14) of compensator (10) and consider a given real scalar λ ∈ (0, 1].
If there exist symmetric positive definite matrices Qi ∈ R2n×2n , positive definite diagonal matrices Δ ∈ Rp×p and
S ∈ Rm×m , and matrices U ∈ R2n×2n , Hi ∈ Rm×2n verifying inequalities (24), (26), and
⎡ ⎤
−Qκ Ai U Gi Δ −Bi S
⎢  λ−1 Qi − U − U U L Ω Hi ⎥
Mκi = ⎣ ⎦ < 0,
  −2Δ ΔFci
   −2S
∀κ = 1, . . . , N and ∀i = 1, . . . , N, and (28)
⎡ −2Q Aij U Gij Δ −(Bi + Bj )S ⎤
κ
⎢  λ−1 (Qi + Qj ) − 2(U + U ) 2U L Ω Hi + Hj ⎥
Mκij = ⎣ ⎦ < 0,
  −4Δ Δ(Fci + Fcj )
   −4S
∀κ = 1, . . . , N, ∀i = 1, . . . , N − 1 and ∀j = i + 1, . . . , N, (29)
 −1 −1

then, the set LV  i {E(Qi )} = E(Q (αk )) is λ-contractive and verifies LV ⊆ χ S(ρ, αk ).

Proof. First, consider Mκi and Mκij , given by (28) and (29), and the sum:


N 
N   
N N−1 N
M(α) = 2
α(κ) α(i) Mκi + α(κ) α(i) α(j ) Mκij < 0
κ=1 i=1 κ=1 i=1 j =i+1

where the index κ is associated with the instant (k +1) andi, j are associated
Nwith instant k. Now, by using the notation
+
α = αk and α + = αk+1 , by considering that Q(α + ) = N α
i=1 (i) Qi = κ=1 α(κ) Qκ , and by using the inequality
λU Q−1 (α)U ≥ −λ−1 Q(α) + U + U (see the proof of Lemma 1 for a similar one) it is possible to get
⎡ ⎤
−Q(α + ) A(α)U G(α)Δ −B(α)S
 −1  
−λU Q (α)U U L Ω U Y (α) ⎥  
⎢ 
M(α) = ⎣ ⎦ < 0.
  −2Δ ΔFc (α)
   −2S
Pre- and post-multiplication of M(α) by diag(I, (U )−1 , Δ−1 , S −1 ) and its transpose, respectively, yield a matrix
inequality that can be re-formulated by Schur’s complement as:
     
A (α)   A(α) −λQ−1 (α) L ΩΔ−1 Y (α)S −1
 −1 +
MS (α) = G (α) Q α G (α) + Δ−1 ΩL −2Δ−1 Fc (α)S −1 < 0.

−B (α) 
−B (α) −1 −1
S Y(α) S Fc (α) −2S −1
Thus, by defining ϑk = [ξk ϕk Ψ (uk ) ] , one gets:
 
ϑk MS (α)ϑk = ΔVλ (ξk , αk ) − 2ϕ  (zk )Δ−1 ϕ(zk ) − ΩLξk
 
− 2Ψ  (uk )S −1 Ψ (uk ) − Y(αk )ξk − Fc (αk )ϕ(zk ) < 0, (30)
which is valid for all αk ∈ Ξ .
Next, recall from Lemmas 1 and 2 that conditions (24) and (26) guarantee E(Q−1 (αk )) ⊆ χ and E(Q−1 (αk )) ⊆
S(ρ, αk ), respectively. Thus, ∀ξk ∈ E(Q−1 (αk )) ⊆ χ ∩ S(ρ, αk ) one has by definition, that the nonlinearity ϕ(zk )
verifies the sector condition (6) and, from Lemma 2, the nonlinearity Ψ (uk ) verifies the modified sector condition (27).
Hence, inequality (30) implies that relation (20) is verified for LV = E(Q−1 (αk )) and, by Definition 1, it is possible
to conclude that this level set is λ-contractive, thereby completing the proof. 2

Hence, by Lemma 3 the origin of the corresponding saturating closed-loop system (12) is asymptotically stable for
any initial condition ξ0 ∈ LV and, thus, the trajectories emanating from it are going to remain in χ for all k ≥ 0.
By considering only (24), (26), and (28) in Lemma 3 and assuming some matrices of the controller to be crisp, that
is, addressing the PDN-Fuzzy Compensator, we obtain the following result.
102 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

Lemma 4 (LA-Stability using PDN-Fuzzy Compensator). Let Aci , Bci , Gci , Eci , Cc , Dc , and Fc be the given matrices
of appropriate dimensions forming the structure (15) of compensator (10), and consider a given real scalar λ ∈ (0, 1].
If there exist matrices U ∈ R2n×2n , Hi = H ∈ Rm×2n , symmetric positive definite matrices Qi , positive diagonal
matrices Δ ∈ Rp×p and S ∈ Rm×m , verifying (24), (26), and (28), with Fci = Fc , then, the set LV = E(Q−1 (αk )) is
λ-contractive, such that LV ⊆ χ ∩ S(ρ, αk ).

4. Main results

Inspired from the work in [25], let us define the n-dimensional real square matrices X, Y , W , and Z (see [33]):
     
X • Y • Y In
U= , U−1 = , Θ= . (31)
Z • W • W 0
    
One has that: UΘ = I0n X
Z
⇒ Û = Θ  UΘ = YI TX , where:
n

T  = Y  X + W  Z. (32)
 Q11i Q12i 
Furthermore, using the partitioning Qi =  Q22i ,
one can set:
  
 Y Q11i Y + W  Q12i Y + Y  Q12i W + W  Q22i W Y  Q11i + W  Q12i
Q̂i = Θ Qi Θ =
 Q11i
 
Q̂11i Q̂12i
= . (33)
 Q̂22i
Thus, from Lemmas 3 and 4, and by using the above definitions, we can propose the following convex synthesis
condition that provides a solution to Problem 1.

4.1. LMI stabilization conditions

Theorem 1 (LA-Stabilization with TDN-Fuzzy Compensator). Consider the system (8),(10),(9) and a given real scalar
λ ∈ (0, 1]. If there exist symmetric positive definite matrices Q̂i , positive diagonal matrices S and Δ, matrices X,
Y , T , Âi , Âij , B̂i , B̂ij , Ĝi , Ĝij , Êi , Ĉi , D̂i , F̂i of appropriate dimensions, and Ĥ1i ∈ Rm×n and Ĥ2i ∈ Rm×n ,
i, j = 1, . . . , N , verifying the LMIs conditions (34),(35),(37) and the nonsingular matrices Z and W such that (32)
is verified, then, thecontroller (10) structured as in (14) with matrices given in (38) (see next page) and the set
S0  E(Q−1 (αk ))= i=1,...,N E(Q−1 i ) are solutions to Problem 1.
⎡ ⎤
Ĝi −Êi
⎢ −Q̂κ Π1i
Gi Δ + Bi F̂i −Bi S ⎥
⎢ ⎥
⎢ ⎥
⎢ LΩ  
Ĥ1i ⎥
⎢  λ−1 Q̂i − Û − Û ⎥ < 0,
⎢  
X L Ω Ĥ2i  ⎥
⎢ ⎥
⎢ ⎥
⎣ −2Δ F̂i ⎦
 
 −2S
κ = 1, . . . , N and ∀i = 1, . . . , N ; (34)
⎡ ⎤
Ĝij −(Êi + Êj )
⎢ −2Q̂κ Π2i
+ + Bi F̂j + Bj F̂i −(Bi + Bj )S ⎥
⎢ (Gi Gj )Δ ⎥
⎢ ⎥
⎢ 2L Ω  
Ĥ1i + Ĥ1j ⎥
⎢ ⎥
⎢  λ−1 (Q̂i + Q̂j ) − 2Û − 2Û   ⎥ < 0,
⎢ 2X  L Ω Ĥ2i + Ĥ2j ⎥
⎢ ⎥
⎢   ⎥
⎣ −4Δ F̂i + F̂j ⎦
 
 −4S
κ = 1, . . . , N, ∀i = 1, . . . , N − 1 and ∀j = 1 + i, . . . , N; (35)
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 103

⎡  ⎤
(D̂i() C) − Ĥ1i()
⎢ −Q̂i + Û + Û   ⎥
⎣ Ĉi() − Ĥ2i() ⎦ > 0,
 2
ρ()

i = 1, . . . , N and ∀ = 1, . . . , m; (36)
⎡  ⎤
− Q̂ + Û + Û  L(ι)
⎢ i  ⎥
X(ι)
⎣ ⎦ > 0,
 2
ω(ι)

i = 1, . . . , N and ∀ι = 1, . . . , r. (37)

where
 
Y  Ai + B̂i C Âi
Π1i = and
Ai + Bi D̂i C Ai X + Bi Ĉi
 
Y  (Ai + Aj ) + B̂ij C Âij
Π2i = .
Ai + Aj + (Bi D̂j + Bj D̂i )C (Ai + Aj )X + Bi Ĉj + Bj Ĉi
⎫
Dci = D̂i , Cci = (Ĉi − Dci CX)Z −1 , Fci = F̂i Δ−1 , ⎪
⎪
⎪
⎪
 −1    −1   ⎪
⎪
Bci = W  B̂i − Y  Bi Dci , Bcij = W  B̂ij − Y  (Bi Dcj + Bj Dci ) , ⎪
⎪
⎪
⎪
 −1    −1   ⎪
⎪
Gci = W  Ĝi Δ−1 − Y  (Gi + Bi Fci ) , Eci = W  Êi S −1 − Y  Bi , ⎪
⎪
⎪
⎪
 −1   ⎬
Gcij = W  Ĝij Δ−1 − Y  (Gi + Gj + Bi Fcj + Bj Fci ) , (38)
⎪
⎪
 −1   ⎪
⎪
Aci = W  Âi − W  Bci CX − Y  Bi Cci Z − Y  (Ai + Bi Dci C)X Z −1 , ⎪
⎪
⎪
⎪
 −1  ⎪
⎪
⎪
⎪
Acij = W  Âij − W  Bcij CX − Y  (Bi Ccj + Bj Cci )Z ⎪
⎪
 ⎪
⎪
⎭
−Y  (Ai + Aj + Bi Dcj C + Bj Dci C)X Z −1 ,

Proof. First, from (34), it follows that X, Y , and (T  − Y  X) are nonsingular. Thus, by choosing a nonsingular matrix
W in decomposition (32), it follows that Z obtained from (32) is also nonsingular [33]. This shows that gains (38) are
well defined and can be used for calculations.
Next, consider (33), define the change of variables D̂i , Ĉi , F̂i , Êi , B̂i , B̂ij , Ĝi , Ĝij , Âi , and Âij , accord-
ing to (38), and consider Hi = [Ĥ1i Ĥ2i ]. Thus, pre- and post-multiplication of each inequality (28) and (29) by
diag(Θ  , Θ  , Ip , Im ) and its transpose, respectively, show us that the verification of (34) and (35) is equivalent to the
verification of (28) and (29). Likewise, pre- and post-multiplication of both inequalities (24) and (26) by diag(Θ  , 1)
and its transpose, respectively, show us their equivalence with (24) and (26). Thus, Lemma 3 can be applied to con-
clude the proof. 2

Using the simpler compensator given in (15) and the Lemma 4, the following result can be proved similarly to the
Theorem 1.

Theorem 2 (LA-Stabilization with PDN-Fuzzy Compensator). Consider system (8)–(9) and a given real scalar λ ∈
(0, 1]. If there exist symmetric positive definite matrices Q̂i , positive diagonal matrices S and Δ, matrices X, Y ,
T , and matrices Âi , B̂i , Ĝi , Êi , Ĥ1i , Ĥ2i , Ĉi = Ĉ, D̂i = D̂, and F̂i = F̂ , of adequate dimensions, verifying LMI
conditions (34), (36), and (37), matrices N , Z and the nonsingular matrix W , such that (32) is verified, then the fuzzy
compensator (10), structured as in (15) with
104 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

⎫
Dc = D̂, Cc = (Ĉ − Dc CX)Z −1 , Fc = F̂ Δ−1 , ⎪
⎪
⎪
⎪
  −1    −1 ⎪
⎪
Eci = W −1 
Êi S − Y Bi , Bci = W  
(B̂i − Y Bi Dc ), ⎬
  (39)
Gci = (W  )−1 Ĝi Δ−1 − Y  (Gi + Bi Fc ) , ⎪
⎪
⎪
⎪
  ⎪
⎪
⎭
Aci = (W  )−1 Âi − W  Bci CX − Y  Bi Cc Z − Y  (Ai + Bi Dc C)X Z −1 ,

and the set S0  E(Q−1 (αk ))= i=1,...,N E(Q−1 i ), are solutions to Problem 1.

4.2. Synthesis of N-Fuzzy compensators

For solving Problem 1 different criteria can be used to optimize the size of the contractive domain E(Q−1(αk )).
Among them, a shape set approach can be adopted to optimize the size of E(Q−1 (αk )) according to the shape of the
domain of validity χ ∈ R2n . For this purpose, define the set V ⊂ R2n ,
   $
v
V = Co v̄σ ∈ R2n ; v̄σ = σ , σ = 1, . . . , nσ ,
0
where the set of vectors {vσ ∈ Rn } contains the information necessary to characterize the shape of χ0 ⊂ Rn , the
primary domain of validity for the open-loop fuzzy T–S model. For instance, if χ0 is a polytope (closed and bounded
polyhedron), i.e., r = n, then each vσ is a vertex of χ0 . Otherwise, r < n implies that χ0 is unbounded along the null
space of L0 , and the vectors vσ can then be defined from the vertices of the projection of χ0 , along the null space of
L0 , into the image of L0 .  
For example, if L0 = −1 20
2 30
and φ = [1 2] , we have r = 2, n = 3 and χ0 is defined by the set of vectors
± 7 [1 4 0] and ±[1 0 0] , being not constrained along the direction of N (L0 ) = [0 0 1] . Then, in this case we have
1

v1 = 17 [1 4] , v2 = −v1 , v3 = [1 0] and v4 = −v3 .

Thus, for the purposes of synthesis the objective will be to maximize β > 0 such that the inclusion βV ⊆
 v̄  
E(Q−1 (αk )) is also verified. Considering μ = 1/β 2 , this inclusion reads: μ Q σ ≥ 0, ∀i = 1, . . . , N and ∀σ =
i

1, . . . , nσ , which, by pre- and post-multiplication by diag(1, Θ ) and its transpose, respectively, is equivalent to:

μ vσ Y vσ
≥ 0, i = 1, . . . , N, σ = 1, . . . , nσ . (40)
 Q̂i
The computation of the compensator gains to solve Problem 1 is given in the following theorem, where the LMI
stabilization conditions in Theorems 1 and 2, and the additional LMI (40), are constraints of the semidefinite programs
(SDPs).

Theorem 3. Given a real scalar λ ∈ (0, 1], consider that the following SDPs are feasible. Then the corresponding
PDN- and TDN-Fuzzy Compensators, which gain matrices are obtained from (38) and (39), respectively, and the
associated sets S0  E(Q−1 (αk )) solve Problem 1:

• Synthesis with TDN-Fuzzy Compensator:

min μ
Q̂i ,X,Y,T ,Δ,S,Âi ,Âij ,B̂i ,B̂ij ,
Ĝi ,Ĝij ,Êi ,Ĥ1i ,Ĥ2i ,Ĉi ,D̂i ,F̂i (41)
subject to
LMIs (34), (35), (36), (37) and (40).
• Synthesis with PDN-Fuzzy Compensator:
min μ
Q̂i ,X,Y,T ,Δ,S,Âi ,B̂i ,
Ĝi ,Êi ,Ĥ1i ,Ĥ2i ,Ĉi =Ĉ,D̂i =D̂,F̂i =F̂ (42)
subject to
LMIs (34), (36), (37) and (40).
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 105

Fig. 3. Nonlinear membership functions.

It is noteworthy that the numerical complexity for the solution of LMI-based optimization problems is related to
the number of scalar decision variables, V, and the number of rows, R, of the considered LMIs. In the conditions of
Theorem 1 we have V1 = (3n2 + m + p) + (n + m(p + q))N + (2n + 4m + p + q)nN + (n + p + q)nN(N − 1)/2 and
R1 = (4n + p + m)N 2 (N + 1)/2 + RIncl , where RIncl = (2n + 1)N (m + r) refers to the number of rows involved in
the inclusion conditions given by (36) and (37). On the other hand, the conditions of Theorem 2 are simpler than those
from Theorem 1, and we get V2 = (3n2 + m + p) + m(n + 1 + p + q) + (3n + 3m + p + q + 1)nN and R2 = (4n + p +
m)N 2 + RIncl . Different LMI solvers may have different numerical complexity with respect to V and R. For example,
SeDuMi [34] has an order of number of floating point operations (flop) given by V 2R5/2 + R7/2 whereas LMIlab
has an order of flop given by V 3 R [7]. Thus, it is not difficult to verify that optimization problem (41), associated
with Theorem 1, is numerically more complex than optimization problem (42), associated with Theorem 2. But the
numerical complexity accounts only for the off-line computations. Furthermore, due to its more general structure, the
TDN-Fuzzy solution allows, in general, better performance than the PDN-Fuzzy one. Hence, the practical usage of the
TDN-Fuzzy Compensator can be limited by the processing and memory capacities of the hardware used to implement
the control system.

5. Numerical example

5.1. Motivating example continued

Let us consider the system of the motivating example in Remark 1, now subject to amplitude-bounded control
input, which can be put under the form (1)–(2) with: zk = yk = wk = xk , f1 (zk ) = xk2 , f2 (zk ) = 1, f3 (zk ) = (0.2 + xk2 )
and ϕ(wk ) = sin xk ∈ [0, 1].
Thus, for the same domain of validity (5) used in the Remark 1, we obtain a fuzzy T–S model (4) with two local
nonlinear rules, instead of four local rules as considered previously, with matrices given by:

A1 = [1.7135]; A2 = [0]; B1 = [1.9135]; B2 = [0.2000]

G1 = G2 = [1]; L = 1; Ω = 1. (43)
This illustrates how the use of T–S nonlinear local models can effectively reduce the number of rules w.r.t. the classical
x2 x2
fuzzy modeling used in Remark 1. The two nonlinear membership functions, αk(1) = 1.7135 k
and αk(2) = 1 − 1.7135
k
,
are shown in Fig. 3 for the considered domain of validity.
Figs. 4(a) and 4(b) depict the basins of attraction and the corresponding estimates given by sets S0 using the
PDN-Fuzzy compensator obtained by SPD (42). In these figures the dashed lines represent the boundary of the domain
of validity. We firstly observe that greater is the level of saturation ρ, the greater are these estimates. Furthermore, for
any level of saturation ρ ≥ 1, all the system states inside domain of validity can be steered to the origin, differently
from the case without saturation shown in Remark 1.
106 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

Fig. 4. Basins of attraction and the corresponding estimates given by sets S0 , for: (a) ρ = 1 and (b) ρ = 0.75.

Fig. 5. (a) State trajectories for ρ = 1. (b) The corresponding bounded control efforts.

In Figs. 5(a) and 5(b) we can observe the state trajectories and control efforts considering three stabilizing initial
conditions: ξ0 = [0.7 0] marked with 2, ξ0 = [1.1 0] marked with X, both inside the level set S0 and ξ0 = [−1.28 0]
marked with O, outside S0 but inside the domain of validity χ . Any trajectory initialized in S0 evolve inside it, even
with possible control saturation, as is the case for the second initial condition.

5.2. A physically motivated example

The control problem of balancing an inverted pendulum on a cart has been extensively investigated in the literature;
see for example [3], [35], [36]. However, these references do not consider input saturation neither the possibility of
destabilizing initial conditions as in the design control stage of the present work. Consider the modeling found in [3]
where:
g sin(x1 ) − amdx22 sin(2x1 )/2 − a cos(x1 )u
ẋ1 = x2 , ẋ2 = , y = x1 (44)
4l/3 − amd cos2 (x1 )
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 107

Table 1
Trade off between λ and β.
λ β (TDN-Fuzzy) β (PDN-Fuzzy)
1 0.4250 0.3908
0.9 0.3400 0.3063
0.8 0.2653 0.2312
0.7 0.1959 0.1666

Fig. 6. Regions and trajectories of the states of the plant for λ = 1. The intersection of E(Q−1 (αk )) with the plane xc = 0 is delimited by SR
(dashed–dotted line) while the orthogonal projection of E(Q−1 (αk )) over such a plane is delimited by CR (dashed–line). The set V0 (solid line)
corresponds to the projection of χ0 over xc = 0.

and x1 in rad, x2 in rad/s, g = 9.8 m/s2 , m = 2.0 kg, M = 8.00 kg, 2d = 1.0 m, and u in N. By definition, a =
1/(m + M). The control bound is given by ρ = 300 N.
System (44) can be described by a continuous-time model, similar to (4), composed by the feedback connection of
a Takagi–Sugeno (T–S) fuzzy model and the cone-bounded nonlinearity ϕ(x1k ) = sin(x1k ). To obtain this nonlinear
fuzzy model, we consider a domain of validity χ0 defined by (5) with L0 = I2 , φ = [π/3 5] which leads to
       $
π/3 π/3 −π/3 −π/3
vσ = , , , .
5 −5 5 −5
The continuous time model is represented in the nonlinear T–S form and then each sub-model is discretized with a
sampling period Ts = 0.1 s by considering the presence of a sample-and-hold for the control signal as well as for the
nonlinear function [37]. Notice that the discretization of T–S fuzzy continuous-time system is a challenging task in
control theory and it is beyond the scope of this paper. For further discussions on this topic, see [37] and [38]. The
matrices of obtained local nonlinear discrete-time rules in (4), Ai , Bi , Gi , and L, are shown in Appendix A. By using
this nonlinear local fuzzy model we first searched for the minimum values of λ for which the synthesis SDPs (41) and
(42) were feasible, finding λmin = 0.22 and λmin = 0.47 for the TDN- and PDN-Fuzzy compensators, respectively.
This shows that for this practical motivated example, the degrees of freedom inherent to TDN-Fuzzy compensator
can be used to exploit better time performances. Furthermore, greater λ-contractive sets can be obtained by using this
more complex compensator, as show in Table 1.
Let us now consider the stabilizing TDN-Fuzzy Compensator with λ = 1 and three different initial conditions
ξ0i = [x0i 0] , i = 1, 2, 3, each of them belonging to a different region of the state space, as shown in Fig. 6. Thus,
in this case x0i denotes the states of the plant while the states of the controller, xc , are always initiated as null. The
values of the initial conditions are given as follows: i) ξ01 with x01 = [0.8190 0.9579] belongs to the boundary of the
intersection of E(Q−1 (αk )) with the plane formed by the states of the plant, which is delimited by the dashed–dotted
108 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

Fig. 7. System states evolution for ξ01 , where the dashed line indicates x1 (t) and the solid one indicates x2 (t).

Fig. 8. Control effort for ξ01 .

line (SR) in Fig. 6; ii) ξ02 with x02 = [−0.9397 0] that does not belong to E(Q−1 (αk )) but belongs to the orthogonal
projection of E(Q−1 (αk )) over the plane formed by the states of the plant, which is delimited by the dashed line
(CR) in Fig. 6; and iii) ξ03 with x03 = [−0.7156 − 3.6643] , that does not belong to E(Q−1 (αk )) but belongs to the
projection of domain of validity χ0 over the plane formed by the states of the plant, which is delimited by the solid line
(V0 ) in Fig. 6. The trajectories of the states of the plant in the closed-loop system are depicted in Fig. 6, where each
initial state was marked with a square. We observe that for the initial condition ξ01 , chosen on the boundary of SR, the
corresponding trajectory is stable. On the other hand, for ξ03 , although it belongs to χ0 , the corresponding trajectory
diverges from the origin, clearly illustrating the relevance of the characterization of the set of initial conditions. We
also observe that although the initial condition ξ02 is outside the set of initial conditions assured by solving (42), i.e.
the innermost set in Fig. 6, this condition belongs to the domain of attraction. In Figs. 7 and 8 we can see the system
states’ evolution and the control effort for TDN-Fuzzy Compensator with initial condition ξ01 .
 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111 109

Therefore, this physically motivated example shows how our proposal can be applied in practice, consid-
ering control signal saturation and the existence of a domain of validity for the fuzzy T–S model. Also, the
use of nonlinear T–S model allows the use of only 8 fuzzy rules, instead of 16 in a more standard fuzzy
T–S approach. Besides, the local stability of the closed loop system has been addressed providing an esti-
mate of the basin of attraction. The performance index λ has been employed, and the relation between its
values and the size of the estimate of the basin of attraction has been stated. In this example, we present
the design of TDN and PDN controllers, which are effective to control the system. In the case of TDN con-
troller, a larger estimate of the basin of attraction is obtained with respect to the PDN controller, as ex-
pected.

6. Conclusion

We proposed a convex design of a nonlinear parallel-distributed-compensator that, by dynamic output feedback,

stabilizes a class of nonlinear discrete-time systems with saturated control inputs. The design is based on a nonlinear
T–S description of the original nonlinear plant, where each sub-model is allowed to have nonlinear terms belonging
to a specified sector and saturation on the control signals. By using such nonlinear T–S description, the plant rep-
resentation may be done with fewer rules than the usual T–S models with linear sub-models. Besides, the nonlinear
terms (saturation included here) are directly considered in the design. Two types of nonlinear fuzzy compensators
were addressed: In one case, all matrices of the controller depend on fuzzy grade membership functions and in the
other case only a subset of its matrices depends on the membership functions. The main advantages of these fuzzy
compensators are: i) they assure that, with the given initial conditions, the closed loop system will operate inside
a specified domain of the state space (where the fuzzy model is valid and/or the system operation is safe); ii) they
contain a fuzzy anti-windup gain that helps to mitigate the bad effects of the saturation; iii) they consider some perfor-
mance requirement, which is associated with the coefficient of contractivity of the trajectories inside the considered
level set. The smaller such coefficient is, the faster is the convergence of the closed-loop system. The closed-loop
stability is guaranteed by a fuzzy Lyapunov function, avoiding the known conservatism associated with the quadratic
stability approach. Simulation examples where the two cases of N-Fuzzy controller design are compared have been
given.

Appendix A. Matrices used in Example 5.2

     
1.0000 0.0978 1.0000 0.0978 1.0000 0.1022
A1 = , A2 = , A3 = ,
0 0.9568 0 0.9568 0 1.0451
     
1.0000 0.1022 1.0000 0.0981 1.0000 0.0981
A4 = , A5 = , A6 = ,
0 1.0451 0 0.9618 0 0.9618
   
1.0000 0.1020 1.0000 0.1020
A7 = , A8 = ,
0 1.0397 0 1.0397
       
−0.0009 −0.0004 −0.0009 −0.0004
B1 = , B2 = , B3 = , B4 = ,
−0.0173 −0.0086 −0.0180 −0.0090
       
−0.0008 −0.0004 −0.0008 −0.0004
B5 = , B6 = , B7 = , B8 = ,
−0.0153 −0.0076 −0.0159 −0.0079
       
0.0852 0.0852 0.0878 0.0878
G1 = , G2 = , G3 = , G4 = ,
1.69183 1.69183 1.7681 1.7681
       
0.0754 0.0754 0.0774 0.0774
G5 = , G6 = , G7 = , G8 = ,
1.4979 1.4979 1.5574 1.5574
Li = C = [ 1 0] ∀i = 1, . . . , 8, and ϕ(zk ) = sin(zk ).
110 M. Klug et al. / Fuzzy Sets and Systems 263 (2015) 92–111

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