Model Predictive Control For Nonlinear Systems in Takagi-Sugeno's Form Under Round-Robin Protocol

Available online at www.sciencedirect.
com
Journal of the Franklin Institute 357 (2020) 7597–7616

www.elsevier.com/locate/jfranklin
Model predictive control for nonlinear systems in

Takagi-Sugeno’s form under round-robin protocol
Yuying Dong, Yan Song∗, Bin Zhang
Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai
200093, China
Received 24 October 2018; received in revised form 15 May 2020; accepted 15 May 2020
Available online 25 May 2020
Abstract
In this paper, we focus on the investigation of the fuzzy model predictive control (FMPC) problem
for nonlinear systems characterized by Takagi-Sugeno (T-S) fuzzy form with hard constraints on the
control input and the state. To reduce the data transmission burden and improve the network utilization,
a so-called Round-Robin (RR) communication protocol is employed to orchestrate data transmission
orders via the shared communication network, which is located from controller nodes to the actuator
node. In light of the token-dependent quadratic function approach, a switching system is constructed
based on the data transmission period regarding the adopted RR protocol. Then, with respect to system
nonlinearities in the case of the T-S fuzzy form, a “min-max” problem is formulated by resorting to
the objective function over the infinite horizon. Our purpose is to find a series of desired controllers
in terms of FMPC approach such that the underlying T-S fuzzy system is asymptotically stable. With
taking the T-S fuzzy nonlinearities and the RR protocol fully into consideration, sufficient conditions
are provided through an online auxiliary optimization problem. Finally, two simulation examples are
used to demonstrate the effectiveness and the validity of the proposed methods.
© 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
∗ Corresponding author.
E-mail address: sonya@usst.edu.cn (Y. Song).
https://doi.org/10.1016/j.jfranklin.2020.05.023
0016-0032/© 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
7598 Y. Dong, Y. Song and B. Zhang / Journal of the Franklin Institute 357 (2020) 7597–7616
1. Introduction
In last few decades, MPC has attracted much attention from researchers in the control
community owing to its great potential in handling optimization problems with hard constraints
(constraints on states, inputs and outputs), see e.g. [1–7]. The optimization over a fixed
length for future time instants (also called the time horizon) plays an important role for the
MPC approach. More specifically, at each time instant, by means of an online optimization
problem, a series of control inputs is readily obtained, whereas only the first component
will be actually acted on the system. At the next instant, a new optimization problem is
constructed to determine a new set of inputs with respect to the latest measurements. Due
to the above discussions on the mechanism of the MPC approach over a moving horizon, it
is vitally important to formulate a solvable optimization problem and guarantee its recursive
feasibility, which is often an obstacle for the control synthesis in the framework of MPC.
So far, tremendous efforts have been made to overcome such a difficulty, see [8–10] and
references therein.
In view of results in the existing literature, many scholars have investigated the MPC
problems for linear systems [11,12]. However, in the industrial engineering, control objects are
often with strong nonlinearities. Thus, it is practically necessary to address the MPC problem
for nonlinear systems [13]. In contrast with the MPC strategy for linear systems, it is much
more difficult to guarantee the recursive feasibility of the MPC strategy for nonlinear systems.
Hence, the MPC problem for nonlinear systems has not yet been adequately studied although
it is an attractive topic for its practical importance. Generally speaking, nonlinearity in system
modelling can be roughly divided into the phenomenological nonlinearity and the behavioural
nonlinearity [14]. The model with phenomenological nonlinearity fully considers physical
relations governing the system, thus the complete prior knowledge is rigorously needed for
the model construction. However, it is usually impossible to get the explicit physical relations
or the enough prior knowledge under various disturbances and environmental complexities.
Instead, behavioural models are fortunately adopted for theoretical and practical investigations.
In recent years, T-S fuzzy model, a so-called typical behavioural model, has gained quite a
few focuses, see e.g. [15–18]. Rather than using only one linear model to handle nonlinearities
in other behavioural models, the T-S fuzzy model adopts a set of linear submodels to achieve
a high accuracy of approximation. A primary problem of MPC for T-S fuzzy model is to deal
with nonlinearities and to develop an efficient prediction over a moving horizon against the
combination of linear submodels.
In order to overcome obstacles resulting from submodels, a “min-max” problem over an
infinite horizon has been put forward to designing the controllers in the framework of MPC
[19,20], which naturally gives rise to the FMPC [21–24]. To mention a few, a multi-step
output feedback FMPC algorithm has been designed for T-S fuzzy system with bounded dis-
turbance in [23], in which an event-triggered scheme is introduced to reduce the transmission
burden. An MPC strategy has been proposed for a class of uncertain discrete-time system
with time-varying delays and input constraints in [25], where such a proposed MPC strategy
cannot work well for nonlinear systems. In [26], a novel fuzzy generalized predictive control
(FGPC) problem for discrete-time T-S fuzzy system has been investigated, where nonlinear
effects have been removed with the help of parameter identification under the kernel ridge
regression (TS-KRR). Obviously, this FGPC approach inevitably results in conservatism due
to the nonlinearities removing in the controller design. In this paper, we endeavor to pro-
Y. Dong, Y. Song and B. Zhang / Journal of the Franklin Institute 357 (2020) 7597–7616 7599
pose an effective FMPC strategy for T-S fuzzy systems by adequately taking the nonlinearity
characteristics into account such that the obtained sufficient conditions are less conservative.
With the rapid development of the computer science and the communication technology,
the traditional “point-to-point” connection is gradually replaced by the network connection,
where components such as sensors, controllers and actuators are connected via the wireless
network with a limited band-width. A system with network connection is called a networked
control system (NCS), see [27–32] and references therein. In NCSs, data collision and the
network congestion often occur when the data are transmitted over a shared communication
network by the limited bandwidth [33,34]. In order to avoid data collisions and improve
the network utilization, some communication protocols including but are not limited to the
stochastic communication protocol (SCP)[35–37], the try-once-discard (TOD) protocol [38–
40] and the RR protocol [41–43] have been proposed. Among these protocols, the RR protocol
has a whelming superiority in the simple implementation and the low cost. Therefore, in this
paper, we introduce the RR protocol in the backward channel, i.e., from the controller to
the actuator, to reduce the transmission burden and improve the network utilization such that
the data are transmitted reliably and efficiently. In spite of its prominent merits, it should be
noted that the FMPC problem for the T-S fuzzy system under the RR protocol has not been
fully investigated yet. This is because the RR protocol is a potential factor in deteriorating
the algorithm feasibility and the system performance due to the orchestration of the data
transmission order and the change of the update rule. To shorten such a gap, it is vitally
important for us to tackle the side-effect of the RR protocol as well as guarantee the desirable
system performance during the controller design, which.
In this paper, we aim at investigating the FMPC problem for nonlinear systems in the
context of T-S fuzzy model, where the RR protocol is adopted in the backward channel, i.e.,
from the controller to the actuator, to reduce the transmission burden and improve the network
utilization. According to the above discussions, the technical challenges of the underlying
system in the framework of FMPC approach can be identified as the following three points.
1) How to construct a model and the corresponding objective to account for the T-S fuzzy
system and the RR protocol in a unified representation? 2) How to formulate a “min-max”
problem for designing the desired controllers in the context of FMPC approach? 3) How to
obtain the guaranteed stability as well as avoid data collisions in networks?
In order to tackle the above challenges, the main contributions of this paper are high-
lighted as follows: 1) instead of using the common Lyapunov-like function, a token-dependent
Lyapunov-like function, which is related to the adopted RR protocol, is employed to obtain
conditions with less conservatism; 2) an objective function over the infinite-time horizon is
constructed, which explicitly takes the combination of linear submodels and the data orchestra-
tion into consideration; 3) a “min-max” problem is put forward to tackle the T-S nonlinearity
problem based on the established objective function, and an auxiliary optimization problem
is further established to find the sub-optimal solution for the solvability; and 4) a stirred-tank
reactor system is utilized in simulation example to validate the effectiveness of the proposed
FMPC algorithm, where performances under the proposed FMPC for systems with or without
the RR protocol, comparison results with the robust MPC (RMPC) described by [25] are
presented.
The remainder of this paper is arranged as follows. In Section 2, the FMPC problem is
established for nonlinear systems in the T-S fuzzy form under the RR protocol, and some
important preliminaries are introduced. In Section 3, a “min-max” problem and its auxiliary
optimization problem are presented, and sufficient criteria are provided to ensure the asymp-
totical stability of the closed-loop system. Furthermore, an online algorithm is given to obtain
the desired controllers. In Section 4, two simulation examples are adopted to demonstrate
the validity of the proposed FMPC strategy. Finally, some conclusions are summarized in
Section 5.
Notation The symbols used in this paper are quite standard unless otherwise specified. Rn
denotes the n dimensional Euclidean space. Nn+ is used to represent a set of positive integers
from 1 to n. 0 and I represent the zero matrix and the identity matrix with proper dimensions,
respectively. Co{ · } denotes a convex hull, where its element “ · ” refers to the vertex of
this polyhedron. The shorthand diag{G1 , G2 , . . . , Gn } denotes a block diagonal matrix, where
matrices G1 , G2 , . . . , Gn are diagonal blocks. Matrix Y ≥ 0 (Y > 0) tells that each entry of Y is
non-negative (positive).
2. Problem formulation and preliminaries
2.1. T-S fuzzy model
Along with[44], the T-S fuzzy system is given as follows:

Rl : If z1 (k) is F1l and · · · zv (k) is Fvl
Then x(k + 1) = Al x(k) + Bl ū (k) (1)
where x(k) ∈ Rnx and ū (k) ∈ Rm are the system state and the control input after transmitted
via the network at the instant k, respectively. z(k) = [z1 (k ), z2 (k ), ..., zv (k)]T is the premise
variable of the system, which can be an expression of x(k). Fil (l ∈ NL+ , i ∈ Nv+ ) is the fuzzy
set, L is the number of inference rules and v is the number of elements in the premise variable.
Al and Bl are some known coefficient matrices with appropriate dimensions. Rl denotes the
fuzzy inference rule.
By adopting singleton fuzzifier, fuzzy reasoning model and center average defuzzifier, the
global system with respect to (1) can be rewritten as
x(k + 1) = A(μ)x(k) + B(μ)ū (k), (2)
where A(μ) and B(μ) are system matrices satisfying

L

[A(μ) B(μ)] = μl (z(k)) Al Bl , (3)
l=1

L
x(k + 1) = μl (z(k))[Al x(k) + Bl u(k)], (4)
l=1
in which
v
Fil (zi (k))
μ (z(k)) = L i=1
l
v ,
i=1 Fi (zi (k))
l
l=1
with Fil (zi (k)) denoting the grade of membership of zi (k) in Fil , and zi (
k) denoting the ith
component of z(k). Without loss of generality, a hypothesis is made as vi=1 Fil (zi (k)) ≥ 0

and then Ll=1 vi=1 Fil (zi (k)) > 0. μl (z(k)) is the normalized membership function, and it is
evident, for ∀k, that

L
μl (z(k)) = 1, μl (z(k)) ≥ 0.
l=1
Thus, system matrices satisfy
[A(μ) B(μ)] ∈ Co{[A1 B1 ], · · · , [AL BL ]}. (5)
Regarding practical requirements from the industrial engineering, the following hard con-
straints on the control input before transmitted and the state are both taken into account:
|[u(k)]η | ≤ [ǔ]η , η ∈ {1, 2, 3, · · · , m} (6)
|[] h̄ x(k)| ≤ [x̌ ] h̄ , h̄ ∈ {1, 2, 3, · · · , τ } (7)
where ǔ > 0 and x̌ > 0 denote known vectors, ∈ Rτ ×nx is a known real matrix, and
[ · ]i (i ∈ {η, }) represents the ith row of a matrix or the ith element of a vector.
2.2. RR Protocol via the Network between the Controller and the Actuator
Due to the limitation of the network bandwidth, the network congestion and data collisions
might happen in the process of data transmission through a shared communication network,
which might lead to the performance degradation and even the system instability. To overcome
these obstacles, a so-called RR protocol is applied into the network, i.e., from controller nodes
to the actuator node, and orchestrate data transmission orders. The schematic diagram of the
addressed system is shown in Fig. 1.
Obviously, m controller nodes share a communication network towards the actuator. For
the purpose of avoiding the data collisions during transmission, the RR protocol is adopted in
the network, where only one controller node with the privilege is accessible to this network
at every instant. Assume that, for the instant k, (k) ∈ H {1, 2, ..., m} is the number of the
actuated node, which is calculated by
(k) = mod(k − 1, m) + 1, (8)
Thus, the updating rule under the RR protocol can be given by

u j (k), j = (k)
ū j (k) = (9)
ū j (k − 1), otherwise
where ū j (k) ∈ R and u j (k) ∈ R, j = 1, 2, · · · , m denote the jth component of the con-
trol input after transmitted and before transmitted at the instant k, respectively. Let ū (k)
[ū1 (k), ū2 (k), . . . , ūm (k)]T and u(k) [u1 (k ), u2 (k ), . . . , um (k )]T .
Based on discussions made above, ū (k) is given by
ū (k) = ψ(k) u(k) + (I − ψ(k) )ū (k − 1), (10)
where ψ(k) = diag{δ((k) − 1), δ((k) − 2), ..., δ((k) − m)} is the updating matrix and δ( · )
taking values in {0, 1} denotes the Kronecker delta function.
2.3. Problem of interests
With respect to the underlying T-S fuzzy system (2)–(4) and the adopted RR protocol
(8) and (9), the controller is determined by
u(k) = K(k) (μ)x(k), (11)
where the feedback gain to be designed is a combination of sub-components, i.e., K(k) (μ) =
L
l=1 μ (z(k))K(k) .
l l
By letting ζ (k) = [x T (k) ūT (k − 1)]T , the augmented system under the RR protocol can
be constructed by
ζ (k + 1) = A(k) (μ)ζ (k), (12)
where

A(μ) + B(μ)ψ(k) K(k) (μ) B(μ) I − ψ(k )
A(k) (μ) = ,
ψ(k) K(k) (μ) I − ψ(k)
T
and the initial state is denoted by ζ (0) = x T (0) ūT (−1) .
By taking the similar line with [45], the following “min-max” problem is presented to
obtain feedback gains in terms of the FMPC strategy:
min max J ∞ (k), (13)
ū (k) A(μ),B(μ)

where J ∞ (k) ∞ n=0 W (k + p|k) is the objective function over the infinite time horizon,
W (k + p|k) is a quadratic function denoted by
W (k + p|k) = ζ (k + p|k)T Sζ (k + p|k) + u(k + p|k)T Qu(k + p|k),
with S and Q denoting the known weighting matrices, and ·(k + p|k) denoting the predicted
value at the future instant k + p based on the available value at the current time instant k,
noting that · (k|k) · (k).
Thus, the following online optimization problem is provided to calculate feedback gains
in the framework of MPC approach [40]:
⎧
⎪
⎪ min max J ∞ (k)
⎪
⎪ ū(k) A(μ),B(μ)
⎪
⎪ s.t. ζ (k + p + 1|k) = A (k + p|k ) (μ)ζ (k + p|k) (14a )
⎪
⎨
OP1 |[u(k + p|k)]η | ≤ [ǔ]η , η ∈ {1, . . . , m} (14b )
⎪
⎪
⎪
⎪ |[] h̄ x(k + p|k)| ≤ [x̌ ] h̄ , h̄ ∈ {1, . . . , τ } (14c )
⎪
⎪
⎪
⎩
ζ (k + p|k) ∈
(k + p|k ) (14d )
where
(k + p|k ) (n = 0, 1, 2, . . . ) is the token-dependent time-varying terminal constraint (TC)
set which usually plays a critical role to the design of MPC-based controllers. It should
be noted that only the first component u(k) of a series of the predicted inputs u(k), u(k +
1|k), u(k + 2|k), . . . will be really acted on the plant at each time instant k.
For the subsequent analysis, the following definition of the positive invariant (PI) set is
provided.
Definition 1. [19] For system (12), if the system state belongs to the positive set of
at the
instant k (ζ (k) ∈
), its future state also belongs to such a set (ζ (k + p) ∈
, n = 1, 2, . . .),
then this set
is called a PI set.
In this paper, we are interested in investigating the FMPC problem for nonlinear systems
in the form of T-S fuzzy under the RR protocol. More precisely, our purpose is to design a
series of desired MPC-based controllers by means of the token- and fuzzy-dependent quadratic
approach, under which the closed-loop system (12) is guaranteed to be asymptotically stable.
In other words, the following two requirements need to be simultaneously satisfied:
• R1) a solvable online optimization algorithm with respect to OP1 is provided to obtain
the controller gains in the context of K(k + p|k ) (μ);
• R2) sufficient conditions are presented to ensure the stability of the underlying fuzzy system
subjected to the RR protocol.
Remark 1. Although the RR protocol is great capable of improving the network utilization
and reducing the communication burden when data are transmitted over the shared communi-
cation network, it also brings some challenges since only a few data, which obtain the token,
can be successfully transmitted to the target node. More specifically, at each transmission
instant, only a small part of information with the privilege is able to be updated, while the
others will retain previous values. Unfortunately, such a data orchestration is always a po-
tential deterioration to the system performance. In order to overcome side effects resulting
from the adopted RR protocol, it is vitally important to take the influence of the protocol ad-
equately into consideration. However, it is technically difficult to present the effective FMPC
strategy to ensure the recursive feasibility and the stability for nonlinear systems in the T-S
fuzzy form.
3. Main results
In this section, we endeavor to design desired controllers in terms of MPC method such
that the underlying system is asymptotically stable. Firstly, an auxiliary optimization problem
is presented for its solvability of OP1. Secondly, sufficient criteria are developed to guarantee
the asymptotical stability of the underlying system. Lastly, an online algorithm is proposed
to get desired controllers.
3.1. Auxiliary solvable optimization problem of OP1
In order to present an auxiliary optimization problem of OP1 for its solvability, we need
to find sufficient conditions for constraints (14b)-(14d) with respect to the predicted system
(14a). In what follows, we will address the constraint (14d), i.e., the TC set firstly, and then
focus on the hard constraints (14b)-(14c). For the simplicity of the subsequent analysis, let
s (k + p|k) and t (k + p + 1|k).
Before proceeding, the set and the quadratic function are respectively defined as follows:

L
Vs (k + p|k) μl (z(k + p|k))Esl (k + p|k), (15)
l=1

L
s {ζ (k + p|k)| μl (z(k + p|k))Esl (k + p|k) ≤ ξ }, (16)

l=1
where ξ is a positive constant and

Esl (k + p|k) = ζ T (k + p|k)Psl ζ (k + p|k),

L
Ps (μ) = μl (z(k + p|k))Psl .
l=1
Now, we are ready to make a delicate investigation on the TC set (14d). According to the
traditional property of the time-varying TC set, the following two requirements need to be
met:
R1 : Vs (k + p|k) is a quadratic function satisfying
V = Vt (k + p + 1|k) − Vs (k + p|k)
(17)
≤ −ζ T (k + p|k)Sζ (k + p|k) − uT (k + p|k)Qu(k + p|k);
R2 : the set
s is a PI set subject to constraints (6) and (7).
Next, we will work on the above two requirements one by one to obtain the TC set.
3.1.1. R1 of the TC set

Noticing Eq. (15), the following lemma is put forward to guaranteeing the requirement
R1.
Lemma 1. Let weighting matrices S > 0 and Q > 0 be given. For system (12), if there are
positive-definite matrices X1rt , X2tr , X1ls , X2sl , Tis , Qis , matrices Ysi , Ksi and a positive scalar ξ
such that for any (s, t ) ∈ H × H, l, r, i ∈ NL+ , the following inequalities hold
⎡ l ⎤
Xs ( sli )T Xsl S T (Qis )T
⎢∗ Xtr 0 0 ⎥
⎢ ⎥ ≥ 0, (18)
⎣∗ ∗ ξS 0 ⎦
∗ ∗ ∗ ξQ
i
Ts Ysi
≥ 0, Tis ηη ≤ [ǔ]2η , η = 1, . . . , m, (19)
∗ i
X1s
i
Qs X1is
≥ 0, Qis h̄ h̄ ≤ [x̌ ]2h̄ , h̄ = 1, . . . , τ, (20)
∗ X1is

−1
where [] · · denotes the · th diagonal element of the matrix []. is = [Ysi 0], Ksi = Ysi X1is
and
l l
A X1s + Bl ψsYsi Bl (I − ψs )X2sl
s =
li
,
ψsYsi (I − ψs )X2sl
l
X 0
Xsl = 1s ,
0 X2sl
then the condition (17) is satisfied. Furthermore, the feedback control law is given by
Ks (μ) = Ys (μ)X1−1s (μ), (21)
L
where Ys (μ) = l=1 μi (z)Ysi , s (μ) = [Ys (μ) 0], X js (μ) = Ll=1 μl (z)X jsl , X jt (μ) =
L r + +
r=1 μ (z )X jt , j = 1, 2 with z and z denoting the predicted states z(k + p|k) and
r
z(k + p + 1|k), respectively, and Ps (μ) = ξ Xs−1 (μ) and Pt (μ) = ξ Xt−1 (μ).
Proof. Due to the convex polyhedron property (5) of the underlying T-S fuzzy system (1)–(4),
it follows from (18) that

L
L
L
μl (z)μr (z+ )μi (z)Glir
st ≥ 0, (22)
l=1 r=1 i=1
where
⎡ ⎤
Xsl ( sli )T Xsl S T (Qis )T
⎢∗ Xtr 0 0 ⎥
Glir =⎢
⎣∗
⎥.
st ∗ ξS 0 ⎦
∗ ∗ ∗ ξQ
Then, (22) can be rewritten by
⎡ ⎤
Xs (μ) sT (μ) Xs (μ)S T (Qs (μ) )T
⎢ ∗ Xt (μ) 0 0 ⎥
⎢ ⎥ ≥ 0, (23)
⎣ ∗ ∗ ξS 0 ⎦
∗ ∗ ∗ ξQ
where
ˆ s11 (μ) B(μ)(I − ψs )X2s (μ)
s (μ) = ,
ψsYs (μ) (I − ψs )X2s (μ)
ˆ s11 (μ) = A(μ)X1s (μ) + B(μ)ψsYs (μ).
Pre- and post-multiplying (23) with diag{Xs−1 (μ), I , I , I } and its transpose yields
⎡ −1 ⎤
Xs (μ) A Ts (μ) S T (QHs (μ) )T
⎢ ∗ Xt (μ) 0 0 ⎥
⎢ ⎥ ≥ 0. (24)
⎣ ∗ ∗ ξS 0 ⎦
∗ ∗ ∗ ξQ

where Hs (μ) = Ks (μ) 0 .
According to the Schur Complement, it is easily obtained from (24) that
1 1
A˜ Ts (μ)Xt−1 (μ)A˜ s (μ) − Xs−1 (μ) + S + HsT (μ)QHs (μ) ≤ 0. (25)
ξ ξ
Letting Xs (μ) = ξ Ps−1 (μ), X(μ) = ξ Pt−1 (μ) and pre- and post-multiplying (25) with
ζ (k + p|k) and its transpose gives rise to
T
ζ T (k + p|k)[A˜ Ts (μ)Pt (μ)A˜ s (μ) − Ps (μ) + S + HsT (μ)QHs (μ)]ζ (k + p|k) ≤ 0. (26)
which implies (17), thus the requirement of R1 of the TC set is guaranteed by Lemma 1.
This completes the proof.
3.1.2. R2 of the TC set

Next, we will work on conditions to ensure that the set
s is a PI set for all the predicted
states. The proof procedure is conducted from two steps as follows: a) the first step is to
present sufficient conditions to guarantee ζ (k) ∈
s ; b) the second step is to clarify that the
predicted states for future instants belong to the set
s under the proposed conditions.
First, ζ (k) ∈
s can be guaranteed if the following inequality holds

L
μl (z(k))ζ T (k)Psl ζ (k) ≤ ξ , (27)
l=1
Obviously, (27) is true if

ζ T (k)Psl ζ (k) ≤ ξ , (28)

−1
In terms of the Schur Complement and Xsl = ξ Psl , Eq. (28) is guaranteed if and only if

1 ζ T (k)
≥ 0. (29)
ζ (k) Xsl
According to the above discussions, (29) guarantees ζ (k) ∈
s .
Second, we will discuss the condition for ζ (k + 1|k) ∈
s . From Lemma 1, it follows
from (18) that
Vt (k + 1|k) − Vs (k) ≤ 0, (30)
which implies

L
L
μl (z(k + 1|k))ζ T (k + 1|k)Ptl ζ (k + 1|k) ≤ μl (z(k))ζ T (k)Psl ζ (k) ≤ ξ . (31)
l=1 l=1
Due to the polyhedron property, (31) guarantees that ζ (k + 1|k) ∈

s .
Such a process can be conducted to the infinity, and thus all the predicted states for future
instants belong to the set
s under conditions (29) and (18). Furthermore, from Lemma 1,
conditions (19) and (20) guarantee hard constraints (6) and (7), respectively.
According to the above analysis, the set
s is a PI set subject to (6) and (7) for all the
predicted states, i.e., ζ (k + p|k), n = 0, 1, 2, . . . , under conditions (18)–(20) and (29).
Based on the establishments made so far, requirements R1 and R2 can be satisfied by
conditions (18)–(20) and (29). In other words, the set
s is a TC set.
It is of technical difficulties to directly solve the optimization problem Op1 because of the
maximum resulting from the T-S fuzzy model and the infinite time horizon. In what follows,
we devote to providing an auxiliary problem for the solvability.
Noticing (13), summing up each side of (17) from n = 0 to n = ∞ with V(∞|k) (∞|k) = 0
yields
J ∞ (k) ≤ Vs (k). (32)
Substituting (15) and (16) into (32) and using the polyhedron property (5), we can get
max J ∞ (k) ≤ ξ . (33)
A(μ),B(μ)
Apparently, ξ is an upper bound of the objective function. In this sense, the following op-
timization based on such a certain upper bound is presented to replace the aforementioned
Op1:
OP2 : min ξ
{X1rt ,X2tr ,X1ls ,X2sl ,}>0,
Qis ,Uis ,{i,l,r}∈NL+
s,t∈H,Ysi ,Ksi ,ξ >0
s.t. (18), (19), (20) and (29)
Remark 2. According to the adopted RR protocol, a periodic switching system dependent on
the actuated controller node is established. As such, in order to reduce the conservatism of the
closed-loop system, the corresponding token-dependent quadratic function is used to take the
place of the common quadratic function. Furthermore, the maximum of the token-dependent
objective function is employed to handle the parameter uncertainties caused by the T-S fuzzy
nonlinearity. Due to the difficulties in solving this maximum directly, its certain upper bound
is put forward to formulate an auxiliary optimization problem, through which the desired
controllers can be obtained in terms of the FMPC strategy.
3.2. Stability analysis and online algorithm
In this subsection, we are interested in providing sufficient conditions such that the recursive
feasibility of the proposed FMPC approach and the asymptotical stability of the closed-loop
system are simultaneously ensured. Furthermore, with respect to problem Op2, an online
algorithm is presented to calculate feedback gains in the framework of FMPC.
Theorem 1. (Feasibility) Let the positive-definite and symmetric matrices S and Q be given.
If the optimization problem OP2 is feasible at the instant k, then such a problem is also
feasible for any future time instant t > k with the feedback gains given by (21).
Proof. First of all, it is assumed that the optimization problem OP2 is feasible at the instant
k. We need to prove that such a problem is also feasible for all the states at the future time
instants, i.e., ζ (k + p), p > 0. Noticing that only (29) in Op2 is dependent on k due to the
system state ζ (k), the recursive feasibility of the investigated problem can be guaranteed if
(29) is feasible for all the future time instants.
It can be inferred from (18) and (31) that

L
μl (z(k + 1|k))ζ T (k + 1|k)Ptl ζ (k + 1|k) ≤ ξ . (34)
l=1
Furthermore, from (6), it is easily seen that ζ (k + 1|k) = ζ (k + 1) for some (A(μ), B(μ)) ∈ .
By virtue of the property of polyhedron and the Schur Complement, the following condition
can be obtained from (34):

1 ζ T (k + 1)
≥ 0. (35)
ζ (k + 1) Xtl
Therefore, (29) is also feasible at the instant k + 1, which guarantees the feasibility of the
optimization problem OP2. This process can be continued for all the future instants k + 2, k +
3, . . . , and thus the proof is complete.
Theorem 2. (Stability) The closed-loop system (12) is asymptotically stable under the con-
troller obtained from Theorem 1.
Proof. Define a quadratic function as follows:

L
V˜s,k l ∗ l
μl (z)(ζkl )T (Ps,k ) ζk , (36)
l=1
l ∗
where ζk = ζ (k), (Ps,k ) denotes the optimal solution of Op2 at the instant k.
In order to verify the stability of the closed-loop system, we need to prove that V˜s,k is a
strictly decreasing function.
For nonzero states, it follows from (1) to (5) and the feasibility of Theorem 1 that
l ∗ l l ∗ l
(ζk+1
l
)T (Pt,k ) ζk+1 − (ζkl )T (Ps,k ) ζk < 0. (37)
Furthermore, since (Pt,k+1

l
)∗ and (Pt,k
l ∗
) are separately the optimal solution and the feasible
solution for Op2 at the instant k + 1, we readily have
(ζk+1
l
)T (Pt,k+1
l
)∗ ζk+1
l
≤ (ζk+1
l l ∗ l
)T (Pt,k ) ζk+1 . (38)
Then, it is inferred from (37) and (38) that
(ζk+1
l
)T (Pt,k+1
l
)∗ ζk+1
l l ∗ l
< (ζkl )T (Ps,k ) ζk , (39)
which implies that V˜t,k+1 < V˜s,k . Therefore, the function V˜s,k strictly decreases, and ζ (k) → 0
as k → ∞. The proof is thus complete.
Next, an online algorithm is presented for the proposed FMPC strategy.
• Step 1: At the instant k = 0, set the initial controller node (0), the appropriate initial
values x(0) and ū (−1).
• Step 2: Calculate the corresponding feedback law K(k) (μ) by solving the problem OP2,
then u(k) is obtained by (11).
• Step 3: According to the underlying RR protocol, calculate the control input after trans-
mitted uˆ (k) by substituting u(k) and (k) into (10).
• Step 4: Implement the input ū (k) to the system. Set k = k + 1 and go to Step 2.
Remark 3. In this paper, the FMPC problem under the RR protocol is investigated for the
T-S fuzzy system with hard constraints. In order to alleviate the transmission burden for the
shared communication network subjected to the limited capacity, the transmission order of
data from controller nodes is orchestrated by a pre-scheduled principle. More specifically, at
each transmission instant, only one controller node obtaining the token is able to transmit the
data towards the actuator node via the network. Sufficient conditions are presented to ensure
the asymptotically stability of the underlying system. As seen from Algorithm 3.2, in order to
handle the polyhedron nonlinearities and reduce the side-effect of the adopted RR protocol,
all the potential factors deteriorating the performance have been reflected as: 1) the actuated
node (k); 2) the token-dependent quadratic function V(k) (ζ (k + p|k)); and 3) the worst case
of the objective function with hard constraints.
4. Numerical examples
In this section, two numerical examples are provided to illustrate the validity of the pro-
posed FMPC strategy for nonlinear system in context of T-S fuzzy model under the RR
protocol. The first example is a nonlinear system in T-S fuzzy model with two inference
rules. The system of the second example is borrowed from a continuous stirred-tank reactor
(CSTR) system introduced in [19].
Example 1: Consider the following nonlinear system in T-S fuzzy model. The rules are given
as follows:
R1 : If x 1 is F 1 , then x(k + 1) = A1 x + B1 ū
R2 : If x 1 is F 2 , then x(k + 1) = A2 x + B2 ū
u1 k
xk
SCHEDULER
u2 k u k PLANT
MPC . ZOH
(T-S Fuzzy model)
.
.
um k
Fig. 1. Membership functions of the T-S fuzzy model.
where x1 is the first component of the state x(k), and system matrices are given by
⎡ ⎤ ⎡ ⎤
1 0.1 −0.1 1.1 0.15 0.2
A1 = ⎣−0.13 −0.1 0.2 ⎦, A2 = ⎣−0.1 −0.2 0.31⎦,
0.15 0.1 −0.15 0.21 0.01 0.55
⎡ ⎤ ⎡ ⎤
1 0.4 0.6 1.1 −0.9 0.12
B1 = ⎣−0.15 −1.7 0.13 ⎦, B2 = ⎣−0.16 1.5 −0.15⎦.
0.1 0.5 −0.12 0.4 0.12 −0.3
Obviously, there are three components of the control input, i.e., the number of the controller
nodes is m = 3. Weighting matrices S and R are chosen by diag{10, 10, 10, 10, 10, 10} and
diag{0.0001, 0.0001, 0.0001}, respectively. The initial values are given by x(0) = [−2, 2, 2]T
and ū (−1) = [1, −1, 1]T , and the initial actuated node of the RR protocol is assumed to be
1. The upper bounds are set as x̌ = [7, 10, 9]T and ǔ = [3, 4, 5]T . Membership functions are
taken by
1
F 1 (x1 ) = ,
1 + e−2x1
F 2 (x1 ) = 1 − F 1 (x1 ).
In order to evaluate the proposed FMPC strategy for nonlinear systems in the T-S fuzzy
model, performances of systems with and without the RR protocol and comparison results
with the robust MPC (RMPC) proposed in [25] are presented in the subsequence. Fig. 1
shows membership functions of the T-S fuzzy system with respect to F1 (x1 ) and F2 (x1 ).
Fig. 2 shows the state response of the open-loop system, while Figs. 3–5 depict the state
revolution of the closed-loop system. Figs. 6–8 show the corresponding control inputs of
the closed-loop system. We easily find that either the proposed FMPC controllers or the
RMPC controllers can stabilize the T-S fuzzy system which is divergent in an open loop.
However, the proposed FMPC strategy is much superior than the RMPC strategy stated by
[25]. In addition, the proposed FMPC strategy is effective for systems with or without the RR
protocol. Although the utilization of the RR protocol sacrifices a little system performance,
the transmission burden and the data collisions can be greatly reduced. According to the above
analysis, experiments well demonstrate the validity of our proposed methods.
Fig. 2. States of the open-loop system.
Fig. 3. State x1 of the closed-loop system.
Example 2. Consider the following discrete-time T-S fuzzy model obtained from a CSTR
system [19]:
R1 : If x 1 is F 1 , Then x(k + 1) = A1 x + B1 ū
Fig. 6. Control input u1 of the closed-loop system.
where

0.75 0.0019 0.6203 0.0762
A =
1
,A =
2
,
−0.2238 0.8262 −1.2337 1.3265

0.3068 0.0442 0.5 0
A3 = , B1 = ,
−3.6621 1.0765 0 1

0 0.5 1 0
B2 = , B3 = .
0 0.7 0 1.2
Fig. 9. Membership functions of the T-S fuzzy model.
Obviously, there are two control nodes, The weighting matrices S and R are chosen by diag{10,
10, 10, 10} and diag{0.0001, 0.0001}. The initial values are given by x(0) = [0.5, 4]T and
ū (−1) = [4, 1]T . ǔ = [5, 2]T , x̌ = [3, 5]T are the upper bounds according to the considered
hard constraints. The membership functions are as follows.
⎧
⎨1 if x1 ≤ 0.8882,
F 1 = 2.7520−0.
2.7520−x1
if 0.8882 ≤ x1 ≤ 2.7520,
⎩ 8882
0 if x1 ≤ 2.7520.

1 − F1 if 0.8882 ≤ x1 ≤ 2.7520,
F = 2
1 − F2 if 2.7520 ≤ x1 ≤ 4.7052.
⎧
⎨0 if x1 ≤ 0,
x1 −2.7520
F = 4.7052−2.7520
3
if 0 ≤ x1 ≤ 4.7052,
⎩
1 if x1 ≥ 4.7052.
The controller node 1 is set as the initial actuated node. Fig. 9 shows the membership
functions of the T-S fuzzy system. Figs. 10 and 11 show the state response. Figs. 12 and
13 depict the control input of the system. Fig. 14 depicts the upper bound of the objective

Fig. 14. Upper bound of the objective function.
function. Obviously, the comparison results have well demonstrate the validity of our proposed
methods.
5. Conclusions
In this paper, we have investigated the FMPC problem for nonlinear systems in the T-
S fuzzy model subject to hard constraints on the system state and the control input. To
alleviate the network transmission burden and avoid data collisions occurring in the shared
communication network, a so-called RR protocol has been adopted to orchestrate the data
transmission order, where only one node obtaining the token is accessible to the shared
network at each transmission instant. In terms of the token-dependent Lyapunov-like approach,
a switching system has been established with respect to the adopted RR protocol. To fully
reflect the impacts of T-S fuzzy nonlinearities and the RR protocol on sufficient conditions,
the objective related to the token has been put forward to formulating a “min-max” problem.
Then, by minimizing a certain upper bound of this objective, a set of desired controllers has
been obtained to make the closed-loop system converge ultimately. In the end, two simulation
examples have been provided to illustrate the proposed FMPC algorithm.
Acknowledgements
This work was supported in part by the Natural Science Foundation of Shanghai under
Grant 18ZR1427100.
References
[1] Y. Song, K. Zhu, G. Wei, J. Wang, Distributed MPC-based adaptive control for linear systems with unknown
parameters, J. Franklin Inst. 356 (5) (2019) 2606–2624.
[2] Y. Song, S. Liu, G. Wei, Constrained robust distributed model predictive control for uncertain discrete-time
Markovian jump linear system, J. Franklin Inst. 352 (1) (2015) 73–92.
[3] Y. Song, Z. Wang, D. Ding, G. Wei, Robust model predictive control under redundant channel transmission
with applications in networked DC motor systems, Int. J. Robust Nonlinear Control 26 (18) (2016) 3937–3957.
[4] D. Quevedo, D. Nesic, Robust stability of packetized predictive control of nonlinear systems with disturbances
and markovian packet losses, Automatica 48 (8) (2012) 1803–1811.
[5] J. Wang, Y. Song, Resilient RMPC for cyber-physical systems with polytopic uncertainties and state saturation
under TOD scheduling: An ADT approach, IEEE Trans. Ind. Inform. 16 (7) (2020) 4900–4908.
[6] B. Zhang, Y. Song, Asynchronous constrained resilient robust model predictive control for markovian jump
systems, IEEE Trans. Ind. Inform.. 10.1109/tii.2019.2950807
[7] M. Khosravi, M. Amirbande, D.A. Khaburi, M. Rivera, J. Riveros, J. Rodriguez, A. Vahedi, P. Wheeler, Review
of model predictive control strategies for matrix converters, IET Power Electronics 12 (12) (2019) 3021–3032.
[8] D.F. He, H. Huang, Q.X. Chen, Quasi-min-max MPC for constrained nonlinear systems with guaranteed input–
to-state stability, J. Franklin Inst. 351 (6) (2014) 3405–3423.
[9] Z. Li, J. Deng, R. Lu, Y. Xu, J. Bai, C.Y. Su, Trajectory-tracking control of mobile robot systems incorporating
neural-dynamic optimized model predictive approach, IEEE Trans. Syst. Man Cybern. Syst. 46 (6) (2016)
740–749.
[10] L. Zhang, S. Zhuang, R.D. Braatz, Switched model predictive control of switched linear systems: feasibility,
stability and robustness, Automatica 67 (2016) 8–21.
[11] M.A. Rodrigues, D. Odloak, MPC for stable linear systems with model uncertainty, Automatica 39 (4) (2003)
569–583.
[12] J. Vada, O. Slupphaug, T.A. Johansen, Linear MPC with optimal prioritized infeasibility handling: application,
computational issues and stability, Automatica 37 (11) (2001) 1835–1843.
[13] M. Castilla, J.D. lvarez, J.E. Normey-Rico, Thermal comfort control using a non-linear MPC strategy: a real
case of study in a bioclimatic building, J. Process Control. 24 (6) (2014) 703–713.
[14] B. Wang, W. Chen, B. Zhang, Semi-global robust tracking consensus for multi-agent uncertain systems with
input saturation via metamorphic low-gain feedback, Automatica 103 (2019) 363–373.
[15] C. Han, G. Zhang, L. Wu, Q. Zheng, Sliding mode control of TCS fuzzy descriptor systems with time-delay,
J. Franklin Inst. 349 (4) (2012) 1430–1444.
[16] Y. Wang, Y. Xia, H. Shen, P. Zhou, SMC design for robust stabilization of nonlinear markovian jump singular
systems, IEEE Trans. Autom. Control 63 (1) (2018a) 219–224.
[17] Y. Wang, H. Shen, H.R. Karimi, D. Duan, Dissipativity-based fuzzy integral sliding mode control of continu-
ous-time t-s fuzzy systems, IEEE Trans. Fuzzy Syst. 26 (3) (2018b) 1164–1176.
[18] G. Feng, A survey on analysis and design of model-based fuzzy control systems, IEEE Trans. Fuzzy Syst. 14
(5) (2006) 676–697.
[19] W. Yang, G. Feng, T. Zhang, Robust model predictive control for discrete-time Takagi-Sugeno fuzzy sys-
tems systems with structured uncertainties and persistent disturbances, IEEE Trans. Fuzzy Syst. 22 (5) (2014)
1213–1228.
[20] B. Ding, Dynamic output feedback predictive control for nonlinear systems represented by a Takagi-Sugeno
model, IEEE Trans. Fuzzy Syst. 19 (5) (2011) 831–843.
[21] Y. Dong, Y. Song, J. Wang, B. Zhang, Dynamic output-feedback fuzzy MPC for Takagi-Sugeno fuzzy sys-
tems under event-triggering-based try-once-discard protocol, Int. J. Robust Nonlinear Control 30 (4) (2019)
1394–1416.
[22] Y.L. Kuo, I.E.C. Resmi, Model predictive control based on a Takagi-Sugeno fuzzy model for nonlinear systems,
IEEE Trans. Fuzzy Syst. 21 (2) (2019) 556–570.
[23] X. Tang, L. Deng, Multi-step output feedback predictive control for uncertain discrete-time T-S fuzzy system
via event-triggered scheme, Automatica 107 (2019) 362–370.
[24] J.C. Hu, B.C. Ding, Dynamic output feedback predictive control with one free control move for the Takagi–
Sugeno model with bounded disturbance, IEEE Trans. Fuzzy Syst. 27 (3) (2019) 462–473.
[25] S. Bououden, M. Chadli, L. Zhang, T. Yang, Constrained model predictive control for time-varying delay
systems: application to an active car suspension, Int. J. Control Autom. Syst. 14 (1) (2016) 51–58.
[26] I. Boulkaibet, K. Belarbi, S. Bououden, T. Marwala, M. Chadli, A new T-S fuzzy model predictive control for
nonlinear processes, Expert Syst. Appl. 88 (2017) 132–151.
[27] Y. Song, M. Li, X. Luo, G. Yang, C. Wang, Improved symmetric and nonnegative matrix factorization models
for undirected, sparse and large-scaled networks: atriple factorization-based approach, IEEE Trans. Ind. Inform.
16 (5) (2019) 3006–3017.
[28] J. Zhang, J. Lam, Y. Xia, Output feedback delay compensation control for networked control systems with
random delays, Inf. Sci. 265 (1) (2014) 154–166.
[29] X.-M. Zhang, Q.-L. Han, X. Yu, Survey on recent advances in networked control systems, IEEE Trans. Ind.
Inform. 12 (5) (2016) 1740–1752.
[30] L. Zhang, H. Gao, O. Kaynak, Network-induced constraints in networked control systems-a survey, IEEE Trans.
Ind. Inform. 9 (1) (2013) 403–416.
[31] H. Yan, Q. Yang, H. Zhang, F. Yang, X. Zhan, Distributed H∞ state estimation for a class of filtering networks
with time-varying switching topologies and packet losses, IEEE Trans. Syst. Man Cybern. Syst. 48 (12) (2018)
2047–2057.
[32] J. Zhang, C. Peng, M.R. Fei, Y.C. Tian, Output feedback control of networked systems with a stochastic
communication protocol, J. Franklin Inst. 354 (9) (2017) 3838–3853.
[33] E. Tian, Z. Wang, L. Zou, D. Yue, Probabilistic-constrained filtering for a class of nonlinear systems with
improved static event-triggered communication, Int. J. Robust Nonlin. Control 29 (5) (2019) 1484–1498.
[34] G. Franzé, F. Tedesco, D. Famularo, Model predictive control for constrained networked systems subject to data
losses, Automatica 54 (2015) 272–278.
[35] X. Wan, Z. Wang, Q. Han, M. Wu, Finite-time H∞ state estimation for discrete time-delayed genetic regulatory
networks under stochastic communication protocols, IEEE Trans. Circt. Syst. I Reg. Papers 65 (10) (2018)
3481–3491.
[36] Y. Song, Z. Wang, L. Shuai, G. Wei, n-step MPC with persistent bounded disturbances under stochastic com-
munication protocol, IEEE Trans. Syst. Man Cybern. Syst. (2018), doi:10.1109/tsmc.2018.2862406.
[37] L. Zou, Z. Wang, H. Gao, Observer-based H∞ control of networked systems with stochastic communication
protocol: the finite-horizon case, Automatica 63 (2016) 366–373.
[38] G.C. Walsh, H. Ye, L.G. Bushnell, Stability analysis of networked control systems, IEEE Trans. Control Syst.
Technol. 10 (3) (2002) 438–446.
[39] L. Zou, Z. Wang, H. Gao, Set-membership filtering for time-varying systems with mixed time-delays under
round-robin and weighted try-once-discard protocols, Automatica 74 (2016) 341–348.
[40] Y. Song, Z. Wang, D. Ding, G. Wei, Robust H2 /H∞ model predictive control for linear systems with poly-
topic uncertainties under weighted MEF-TOD protocol, IEEE Trans. Syst. Man Cybern. Syst. 49 (7) (2019)
1470–1481.
[41] X. Wan, Z. Wang, M. Wu, X. Liu, H∞ state estimation for discrete-time nonlinear singularly perturbed complex
networks under the round-robin protocol, IEEE Trans. Neural Netw. Learn. Syst. 30 (2) (2019) 415–426.
[42] Y. Yuan, Z. Wang, P. Zhang, H. Dong, Nonfragile near-optimal control of stochastic time-varying multiagent
systems with control-and state-dependent noises, IEEE Trans. Cybern. 49 (7) (2019) 2605–2617. K. Liu, E.
Fridman, K. H. Johansson, Y. Xia, Quantized control under round-robin communication protocol, IEEE Trans.
Ind. Electron. 63 (7) (2016) 4461–4471.
[43] K. Zhu, Y. Song, D. Ding, G. Wei, H. Liu, RMPC under event-triggered mechanism and round-robin protocol:
an average dwell-time approach, Inf. Sci. 457 (2018) 126–140.
[44] T. Zhang, G. Feng, J. Lu, Fuzzy constrained min-max model predictive control based on piecewise Lyapunov
functions, IEEE Trans. Fuzzy Syst. 15 (4) (2007) 686–698.
[45] M.V. Kothare, V. Balakrishnan, M. Morari, Robust constrained model predictive control using linear matrix
inequalities, Automatica 32 (10) (1996) 1361–1379.

Model Predictive Control For Nonlinear Systems in Takagi-Sugeno's Form Under Round-Robin Protocol

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Model Predictive Control For Nonlinear Systems in Takagi-Sugeno's Form Under Round-Robin Protocol

Uploaded by

Copyright:

Available Formats

Available online at www.sciencedirect.

Journal of the Franklin Institute 357 (2020) 7597–7616

Model predictive control for nonlinear systems in

2. Problem formulation and preliminaries

2.1. T-S fuzzy model

Along with[44], the T-S fuzzy system is given as follows:

evident, for ∀k, that

Thus, system matrices satisfy

[A(μ) B(μ)] ∈ Co{[A1 B1 ], · · · , [AL BL ]}. (5)

|[u(k)]η | ≤ [ǔ]η , η ∈ {1, 2, 3, · · · , m} (6)

|[] h̄ x(k)| ≤ [x̌ ] h̄ , h̄ ∈ {1, 2, 3, · · · , τ } (7)

(k) = mod(k − 1, m) + 1, (8)

Thus, the updating rule under the RR protocol can be given by

ū (k) = ψ(k) u(k) + (I − ψ(k) )ū (k − 1), (10)

2.3. Problem of interests

3.1. Auxiliary solvable optimization problem of OP1

s {ζ (k + p|k)| μl (z(k + p|k))Esl (k + p|k) ≤ ξ }, (16)

where ξ is a positive constant and

3.1.1. R1 of the TC set

3.1.2. R2 of the TC set

Obviously, (27) is true if

Due to the polyhedron property, (31) guarantees that ζ (k + 1|k) ∈

3.2. Stability analysis and online algorithm

Furthermore, since (Pt,k+1

Fig. 1. Membership functions of the T-S fuzzy model.

Fig. 2. States of the open-loop system.

Fig. 3. State x1 of the closed-loop system.

Fig. 4. State x2 of the closed-loop system.

Fig. 5. State x3 of the closed-loop system.

Fig. 6. Control input u1 of the closed-loop system.

Fig. 7. Control input u2 of the closed-loop system.

Fig. 8. Control input u3 of the closed-loop system.

Fig. 9. Membership functions of the T-S fuzzy model.

Fig. 10. State x1 of the closed-loop system.

Fig. 11. State x2 of the closed-loop system.

Fig. 12. Control input u1 of the closed-loop system.

Fig. 13. Control input u2 of the closed-loop system.

Fig. 14. Upper bound of the objective function.

You might also like

(k) = mod(k − 1, m) + 1, (8)

ū (k) = ψ(k) u(k) + (I − ψ(k) )ū (k − 1), (10)