Applied Mathematics and Computation 362 (2019) 124569

Contents lists available at ScienceDirect

Applied Mathematics and Computation

journal homepage: www.elsevier.com/locate/amc

Disturbance-observer-based control for semi-Markovian jump

systems with generally uncertain transition rate and
saturation nonlinearity
Tianbo Xu a, Xianwen Gao a,∗, Wenhai Qi b, Yunliang Wei c
a
College of information Science and Engineering, Northeastern University, Shenyang 110819, PR China
b
School of Engineering, Qufu Normal University, Rizhao 276826, PR China
c
School of Mathematical Science, Qufu Normal University, Qufu 273165, PR China

a r t i c l e i n f o a b s t r a c t

Keywords: This paper deals with the problem of disturbance-observer-based control (DOBC) for semi-
Disturbance-observer-based control Markovian jump systems (S-MJSs) with generally uncertain transition rate (TR) and satura-
Semi-Markovian jump systems
tion nonlinearity. Unlike the existing theories, the proposed method considers the external
Saturation nonlinearity
disturbance and saturation nonlinearity in S-MJSs with more general TR. First of all, to
study this DOBC problem, the sufficient condition for stochastic stability of the system is
derived by the use of Lyapunov–Krasovskii functional. Then, the design methods of the
anti-disturbance controller and the disturbance observer are proposed based on the given
stability condition of the closed-loop system. Furthermore, the maximum domain of at-
traction is estimated by solving an optimization iterative algorithm. Finally, two numerical
examples are given to prove the correctness of the proposed results.
© 2019 Elsevier Inc. All rights reserved.

1. Introduction

With the acceleration of the substantial study of hybrid systems, people have increasing demands for the performance
of complex control system especially nonlinear systems [1–5]. Random jump system is a multi-mode control system, which
can adapt to higher level control requirements. For the random jump systems, subsystems always need to keep certain per-
formance indexes in the jump process, and the research direction is gradually expanded. MJSs can describe a large number
of practical systems and have attracted many scholars’ attention. Over the past few years, the analysis and mining of Markov
random process and Markov chain have obtained numerous valuable research achievements in [6–13]. The sojourn time of
MJSs obeys the exponential distribution, which means that the TR of the system is a random process independent of the past
mode. The exponential distribution is the only continuous-time memoryless distribution, and traditional Markov switching
strategies will fail when the actual systems do not satisfy the so-called memory constraints. Many practical control systems
do not satisfy these ideal assumptions of TR, so the existing theories, algorithms and other research results cannot be ef-
fectively applied to practice. It is particularly important to extend research into broader system that has no such limitation,
such as S-MJSs.
Compared with MJSs, S-MJSs have wider application prospects and can better reflect the actual systems. The application
scope of S-MJSs is broader than MJSs. The sojourn time of transition probability for S-MJSs is time-varying, and it can

∗
Corresponding author.
E-mail address: gaoxianwen@mail.neu.edu.cn (X. Gao).

https://doi.org/10.1016/j.amc.2019.124569
0 096-30 03/© 2019 Elsevier Inc. All rights reserved.
2 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569

obeyed other probability distributions. Due to the fact that the restrictive condition of probability distribution function is
simplified, the most results for MJSs are the special case of S-MJSs. At present, many scholars have studied the stability
problems of S-MJSs [14–16]. The problems of discrete-time system are also extended to S-MJSs. The methods of dealing
with discrete-time hybrid systems are given in [17–21]. The discrete-time S-MJSs have special property and have many
achievements being presented in [22–23]. Fault tolerant control based on S-MJSs has been discussed in [25,26]. Event-
triggered theory is introduced in network with semi-Markovian framework, and it has been applied in the realistic system
in [27,28]. In addition, S-MJSs have been applied to many practical problems and have achieved great success in [29–31].
The performance of nonlinear S-MJSs with time-varying transition probability is analyzed in [32]. When considering the
disturbance conditions, the systems are required have the high level controllers that are able to address this situation,
especially for the anti-disturbances. In many practical systems, the existence disturbance is inevitable, and how to minimize
the impact of disturbance on the system performance is also an urgent problem to be solved.
The methods of anti-disturbance control and the observer design have been discussed in [34–36]. DOBC has great ap-
plication prospect in dealing with disturbance problems and maintaining system robustness [37]. Due to the special perfor-
mance of MJSs, there are some researches on DOBC for MJSs. The theory of combining DOBC and L2 − L∞ resilient control
for MJSs has been presented in [38]. In this study, the disturbances are classified into two parts: the part from the external
system, and another part from the L2 space.
Many practical systems almost have the phenomenon of actuator saturation. Saturation can degrade the performance of
the systems and even make the system unstable. At present, many results have been published about the study of actuator
saturation problems in dynamic systems. The stochastic stability of MJSs with actuator saturation is analyzed in [39]. A
condition for solving the attraction domain of linear systems with saturation nonlinearity is given in [40]. The results of
these studies cannot only make the performance of the system reach the original index, but also establish the anti-saturation
controller, which can effectively suppress saturation. An optimization algorithm is proposed for estimating the attraction
domain of input saturation in [41]. The optimization method can also be applied in controller solution in [42]. However, the
application of DOBC for random jump systems with saturation has not been studied in depth.
In this paper, the application results of anti-disturbance analysis are extended to S-MJSs. We not only need to deal with
the problem of disturbance, but also we must ensure that the equilibrium point of the system is in the attraction domain.
TRs are considered to be generally uncertain in this paper, thus they cannot be accurately obtained. These bring addi-
tional difficulties to the design of the disturbance-observer-based controller. Compared with the existing literatures [33–37],
the disturbance observer design is not considered in jump systems especially S-MJSs. Ref. [43] considers the disturbance
observer design for nonlinear systems. Ref. [44] mainly deals with the problems of DOBC for MJS. This paper focuses on the
problem of DOBC for S-MJSs. Ref. [39,45] mainly focus on analysis of anti-windup design for Markovian or semi-Markovian
switching systems, and the method of DOBC is not used to deal with the disturbance. Mode-dependent controller is choice
in this paper, and the information of mode is assumed fully known. Ref. [46,47] investigate the partial information prob-
lems of modes for MJS, and a detector is used to glean the mode. This method may be applied in S-MJSs in further work.
This paper comprehensively considers the above factors and makes a detailed analysis, which is unlike previous research.
The system is more complex, and the difficulty of solving problems has also increased. The research content of this paper
inspired by the existing research has no precedent research. The main contributions can be summarized as the following
points: (i) By selecting appropriate stochastic Lyapunov–Krasovskii functional [48], sufficient conditions for stochastic stabil-
ity of the S-MJSs with saturation nonlinearity are given. (ii) By applying the method of DOBC, the disturbance observer is
designed for estimating the real disturbances, and the anti-disturbance controller is designed to feed forward compensation
at the input of S-MJSs for eliminating the impact of external disturbance. (iii) For ensuring that every initial condition of
closed-loop system is in attractive domain, the estimation of the maximum attractive domain is given by solving a convex
optimization problem. (iv) The method is demonstrated by matching the parameters of two practical examples, to be exact,
the results are verified to be valid.
Notations. In this paper, R n stands for Euclidean space with n dimension, R n×m stands for real matrix space of order
n × m, E( · ) is the mathematical expectation,  ·  represents the Euclidean norm, I represents the identity matrix with proper
dimension, AT is the transpose of A, A−1 is the inverse of A, and F > 0 (F ≥ 0) means that F is the positive (semi-positive)
definite matrix. diag{ · } represents the diagonal matrix and ∗ is the elision of counter elements in matrix.

2. Problem statement and preliminaries

Assume that the system state is completely measurable, the external disturbance satisfies the matching condition, and it
impacts the system through the control input. In the complete probability space (, F, P), S-MJS with external disturbance
and saturation nonlinearity is described as

x˙ (t ) = A( ft )x(t ) + B( ft )σ (u(t ) + d (t )),

x(t0 ) = x0 , f (t0 ) = f0 , t0 = 0, (1)

where, x(t ) ∈ R n stands for the system state, u(t ) ∈ R m stands for the input, d (t ) ∈ R r stands for external disturbance input,
x0 , f0 , t0 are the initial state, initial mode, and the initial time respectively, {ft , t ≥ 0} means the semi-Markovian process
with continuous time and changes in the finite set S = {1, 2, . . . , N}. Z = {λi j } stands for the TR matrix, A(ft ) and B(ft ) stand
 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569 3

for the matrix function of a semi-Markovian process. σ (· ) : R m → R m is the saturation term of actuator saturation, and
σ (u(t )) = [σ T (u1 (t )), . . . , σ T (um (t ))]T , where, σ (ui (t )) = sign(ui (t )) min{1, |ui (t )|}, and sign( · ) stands for the sign function.
The probability transition is described as

λi j (h )h + o(h ), i = j,
P { ft+h = j| ft = i} = (2)
1 + λi j (h )h + o(h ), i = j,
where h > 0, limh→0 o(h )/h is the infinitesimal variable, λij (t) > 0(i = j) means the TR which jumps from mode i to the mode

j from the time t to t + h, and for ∀i ∈ S, λii (h ) = − Nj=1, j=i λi j (h ), and h means the sojourn time.

Remark 1. As we all know, for S-MJSs, the TR is the time-varying and different from the invariant of MJSs, therefore, dis-
tribution function of sojourn time no longer obeys the exponential distribution, but obeys Weibull distribution. S-MJSs with
uncertain TR are investigated in this paper. TR can be divided into two cases. One case is completely unknown, which means
λij (h) is unknown, and another is that we can direct its range, for instance, λi j ≤ λi j ≤ λi j , where λij and λi j stand for the
lower and upper bounds of λij (h). And then, we further describe λi j (h ) = λi j + λi j (h ), in which λi j = 2 (λi j
1
+ λi j ), and
|λij (h)| ≤ kij , with ki j = 2 (λi j
1
− λi j ).

For example, TR matrix with two modes can be described as

 
? ?
Z = ,
λ21 + λ21 (h ) λ22 + λ22 (h )
where ? stands for the unknown case. For convenience, ∀i ∈ S, Si = Ski ∪ Suk
i , and then we assume

Ski  { j : λi j can be determined, f or j ∈ S},

i
Suk  { j : λi j is unknow, f or j ∈ S},
where, if Si = ∅, Ski can be represented as

Ski  {ki1 , ki2 , . . . kim }, m = 1, 2, . . . , N.

where kim ∈ S stands for the mth known transition rate in Ski .

Definition 1. [41] A symmetric polyhedron can be defined as

(F ( ft )) = {x(t ) ∈ R n : |Fr,q x(t )|, q = 1, 2, . . . , m}, (3)

where Fr,q stands for the qth row of F ( ft ) ∈ R m×n and x(t) ∈ ϕ (F(ft )) indicates that the feedback control takes effect in the
linear region.
For positive matrices P ( ft ) ∈ R n×n , an ellipsoid can be defined as

η (P (( ft )) = {x(t ) ∈ R n : xT (t )P ( ft )x(t ) ≤ 1}, (4)

we assume that is the m × m diagonal matrix where the diagonal element is 1 or 0. We can describe each element labeled
as Uv in the , v = 1, 2, . . . , 2m , and we define Uv− = I − Uv , so we can obtain that Uv ∈ , and Uv− ∈ .

Assumption 1. [49] It is assumed that the input of the disturbance in this paper can be described by the external power
system

w(˙ t ) = W ( ft )w(t ),
d (t ) = V ( ft )w(t ), (5)
where, w ∈ R m×1 stands for the state of the external power system, W ( ft ) ∈ R m×m and V ( ft ) ∈ R 1×m represent the given
constant matrices with appropriate dimension respectively.

Remark 2. Many disturbances in practical engineering can be described as model (5), such as the disturbances which con-
tain the unknown constant, the harmonic disturbances which contain unknown amplitude and phase, and the disturbances
model of nonlinear output regulation theory [50]. These kinds of disturbances can be regarded as the main disturbances to
affect the system performance. We describe W(ft ) as
 
0 a
W ( ft ) = ,
−a 0

where, a > 0 and a denotes the frequency of a harmonic disturbance, d(t) is the harmonic disturbances, where frequencies is
known, and amplitude and phase is unknown. The disturbance of practical system can be described by this kind of harmonic
disturbance [51].
4 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569

Assumption 2. [52] If we assume (A(ft ), B(ft )) is controllable, and

(W ( ft ), B( ft )V ( ft ))
is observable. v(t ) is the indirect variable. We can design the observer as

dˆ(t ) = V ( ft )w
ˆ (t ),
ˆ (t ) = v(˙t ) − L( ft )x(t ),
w
v(˙t ) = (W ( ft ) + L( ft )B( ft )V ( ft ))
(v(t ) − L( ft )x(t )) + L( ft )(A( ft )x(t ) + B( ft )u(t ). (6)
The DOBC controller is given as

u(t ) = K ( ft )x(t ) − dˆ(t ), (7)

where, dˆ(t ) denotes the estimation of d(t) for compensating d(t), K(ft ), L(ft ) are the gains of controller and observer respec-
tively.

For the sake of calculation and description of the system, we define ft = i in the following matrix, and describe A(ft ),
B(ft ), W(ft ), V(ft ), L(ft ), K(ft ), P(ft ) as Ai , Bi , Wi , Vi , Li , Ki , Pi respectively.

Lemma 1. If Ki , Fi ∈ R m×m , and x(t) ∈  (Fi ), the saturated part of the system is described as
m

2
σ (Ki x(t )) = ηv (Uv Ki + Uv− Fi )x(t ), (8)
v=1
2 m
where for v = 1, 2, . . . , 2m , ηv are the scalars which satisfy v=1 ηv = 1 and ηv ∈ [0, 1].
Define ew (t ) = w(t ) − wˆ (t ) and ξ (t ) = [xT (t ) eTw (t )]T as the extension matrix. For ∀ξ (t) ∈  (Fi ), where Fi = [F1i , Vi ] ∈
R m×(n+r ) , and then the saturated part is represented as

σ (u(t ) + d (t )) = σ ((Ki , Vi )ξ (t ))
m

2
= μv [(Uv (Ki , Vi ) + Uv− Fi )ξ (t )]
v=1
m

2
= μv [(Uv Ki + Uv− F1i )x(t ) + Vi ew (t )]. (9)
v=1

Furthermore, for ξ (t) ∈  (Fi ), the estimation error of the disturbance observer can be written as
m

2
e˙ w (t ) = μv [(Wi + Li BiVi )ew (t ) + Li BiUv− (F1i − Ki )x(t )]. (10)
v=1
Furthermore, the closed-loop system equation is re-described as
m

2
ξ˙ (t ) = μv A˜ i ξ (t ),
v=1
ξ (t0 ) = ξ0 , f (t0 ) = f (0 ), t0 = 0. (11)
where
 
Ai + Bi (Uv Ki + Uv− F1i ) BiVi
A˜ i = .
Li BiUv− (F1i − Ki ) Wi + Li BiVi

Definition 2. [53,54] The set ς ∈ R+ n is defined as the domain of attraction in the mean square sense of system (11). For

∀f0 ∈ S and ξ 0 ∈ ς , the extension matrix ξ (t) satisfies

 Tf

lim E ξ (t )2 dt < ∞.
T f →∞ 0

Xδ is the estimate of the domain of attraction in terms of the initial condition, where

Xδ = {ς ∈ R+n : max|ς | ≤ δ1 , max|ς˙ | ≤ δ2 },

δ 1 , δ 2 are the positive scalars, then the system (11) is stochastically stable.
 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569 5

Remark 3. For the system with actuator saturation and uncertain disturbance, most of the existing controllers are designed
by the feedback control method. Since the saturation input of the system is divided into control input and disturbance input,
the method of DOBC is used to compensate the impact of uncertain disturbance by feed forward control.

Remark 4. The stability conditions of system (11) are local when actuator saturation exists in the system. Therefore, it’s
necessary to estimate the attractive region of equilibrium point of the system.

Lemma 2. Assume that ε stands for any real number, and C stands for any matrix. Then, the following inequality holds

ε (C + C T ) ≤ ε 2 D + C D−1C T
where D > 0.

3. Stochastic stability analysis

Theorem 1. If there exist the symmetric positive definite matrix Pi and symmetric matrix Ri , such that
  1

Pi A˜ i + A˜ Ti Pi + λi j (h )(Pj − Ri ) + k2i j I + (Pj − Ri )(Pj − Ri )T < 0, (12)

4
j∈Ski j∈Ski

i
Pj − Ri ≤ 0, j ∈ Suk , j = i, (13)

i
Pj − Ri ≥ 0, j ∈ Suk , j = i, (14)

η (Pi ) ⊂ (Fi ), (15)

then system (11) is stochastically stable in ∩N
i=1
η (Pi ).
Proof. According to ξ (t ) ∈ ∩N
i=1
η (Pi ) and Lemma 1, one has ξ (t) ∈  (Fi ). The Lyapunov–Krasovskii functional is chosen for
system (11) as

V (ξ T (t )) = ξ T (t )Pi ξ (t ) (16)
where Pi > 0. Then, we assume that L is the weak infinitesimal operator of V( · ), according to the basic definition of infinites-
imal calculation the weak infinitesimal operator can be solved by using the following formula
E[V (ξ (t + ), ft+ )|ξ (t ), ft ] − V (ξ (t ), ft )
LV (ξ (t ), ft ) = lim . (17)
→ 0 
According to the formula of total probability, the weak infinitesimal operator is described as

LV (ξ (t ), ft )

1 
N
= lim Pr [ ft+ = j| ft = i]ξ T (t + )P ( j )ξ (t + )
→ 0  j=1, j=i

+ Pr [ ft+ = i| ft = i]ξ (t + )P (i )ξ (t + ) − ξ (t )P (i )ξ (t )
T T


1 
N
Pr [ ft+ = j| ft = i] T
= lim ξ (t + )P ( j )ξ (t + )
→ 0  j=1, j=i
Pr [ ft = i]

Pr [ ft+ = i| ft = i] T
+ ξ (t + )P (i )ξ (t + ) − ξ T (t )P (i )ξ (t )
Pr [ ft = i]
m


2
1 
N
qi j (Gi (h + ) − Gi (h )) T
= ηv lim ξ (t + )P ( j )ξ (t + )
v=1
→ 0  j=1, j=i
1 − Gi ( h )

1 − Gi (h + ) T
+ ξ (t + )P (i )ξ (t + ) − ξ T (t )P (i )ξ (t ) , (18)
1 − Gi ( h )
6 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569

where, Gi (h) stands for the cumulative distribution function of the sojourn time h at mode i, and qij stands for the probability
density that jumps from subsystem i to subsystem j. For  → 0, the first order approximation of ξ (t + ) is described as

ξ (t + ) = ξ (t ) + ξ˙ (t ) + o(),
m

2
ξ˙ (t ) = ηv A˜ i ξ (t ). (19)
v=1

We can combine the two equations, and then obtain

m


2
ξ (t + ) = 1 + ηv A˜ i  ξ (t ) + o(). (20)
v=1

According to (18) and (20), we have

LV (ξ (t ), i )
 m
 m

1 
N
qi j (Gi (h + ) − Gi (h )) T 
2 
2
= lim ξ (t ) I + ηv A˜ Ti  P ( j ) I + ηv A˜ Ti  T
ξ (t )
→ 0  j=1, j=i
1 − Gi ( h )
v=1 v=1
  
 2m
 2m
1 − Gi (h + ) T
+ ξ (t ) I + ηv A˜ i T  P (i ) I + ηv A˜ Ti  T
ξ (t ) − ξ T (t )P (i )ξ (t ) . (21)
1 − Gi ( h )
v=1 v=1

According to Du et al. [21], one has

1 − Gi (h + )
lim = 1,
→ 0 1 − Gi ( h )

Gi (h ) − Gi (h + )
lim = λi (h ). (22)
→ 0 (1 − Gi (h ))
N
where λi (h) is the transition rate of the subsystem i. Define λij (h)qij λi (h), i = j, and λii (h )  − j =1, j =i λi j (h ). Therefore, the
infinitesimal generator is

LV (ξ (t ), i )
m
 

2 
N
= ηv ξiT (t ) P ( j )λi j (h ) ξi (t ) + ξiT (t )P (i )A(i )ξi (t ) + ξiT (t )AT (i )P (i )ξi (t ) . (23)
v=1 j=1


TRs are generally uncertain and cannot be acquired precisely. Therefore, according to the condition Nj=1 λi j (h ) = 0, we
N
can obtain j=1 R (i )λi j (h ) = 0, where the symmetric matrix Ri is the free weight matrix. Then, we can obtain


N 
N
λi j (h )Pj = λi j (h )(Pj − Ri )
j=1 j=1


N 
N 
N
= λi j (h )(Pj − Ri ) + λi j (Pj − Ri ) + λi j (h )(Pj − Ri )
i
j∈Suk j∈Ski j∈Ski


N 
N 
N
1
= λi j (h )(Pj − Ri ) + λi j (Pj − Ri ) + λi j (h )((Pj − Ri ) + (Pj − Ri )T ). (24)
i
2
j∈Suk j∈Ski i
j∈Sk

According to application of Lemma 2, we can deal with the part of uncertain transition rate, and the equation above can
be described as


N 
N 
N
λi j (h )Pj ≤ λi j (h )(Pj − Ri ) + λi j (Pj − Ri )
j=1 i
j∈Suk j∈Ski

N


1
+ k2i j I + (Pj − Ri )(Pj − Ri )T . (25)
4
j∈Ski
 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569 7

Therefore, according to the above discussion the infinitesimal generator can be rewritten as
LV (ξ (t ), i )
m

2 
N 
N
= ηv ξiT (t )(P (i )A(i ) + AT (i )P (i ) + P ( j )λi j (h ) − R(i )λi j (h ))ξi (t )
v=1 j=1 j=1
⎛
m

2 
N
≤ ηv ξiT (t )⎝P (i )A(i ) + AT (i )P (i ) + λi j (h )(Pj − Ri )
v=1 i
j∈Suk
⎞

N N


1
+ λi j (h )(Pj − Ri ) + k2i j I + (Pj − Ri )(Pj − Ri )T ⎠ξi (t )
4
j∈Ski j∈Ski

m

2
= ηv ξiT (t ) ξi (t ). (26)
v=1
For ∀i, j ∈ S, when i = j, λij (h) ≥ 0, when i = j, λij (h) < 0, we can discuss the following two cases:
a. For ∀ j ∈ Suk
i , if i ∈ Si , according to (12) and (13), one has
k

LV (ξ (t ), i ) < 0.
b. For ∀ j ∈ Suk
i , if i ∈ Si ,
uk


N N


1
= P ( i )A ( i ) + AT ( i )P ( i ) + λi j (h )(Pj − Ri ) + k2i j I + (Pj − Ri )(Pj − Ri )T
4
j∈Ski j∈Ski


N
+ (Pj − Ri )λi j (h ) + (Pj − Ri )λii (h )). (27)
i
j∈Suk

Inequalities (12)-(14) imply

LV (ξ (t ), i ) < 0.
Furthermore, we can get
V (ξ (t ), i ) < 0.
and then
 m


2
V (ξ (t ), i ) ≤ − min λmin − ηv ξ T (t )ξ (t ). (28)
i∈S
v=1

This inequality (28) can be obtained by applying Dynkin formula as

E [V (ξ (t ), i )] − E[V (ξ (0 ), f0 )]
 t 
=E LV (ξ (s ), fs )ds
0
   

2 m  T
≤ − min λmin − ηv E ξ (s ) ξ (s )ds|(ξ (0 ), f0 ) ,
T
i∈S 0
v=1

and then,
   

2 m  T
min λmin − ηv E ξ (s ) ξ (s )ds|(ξ (0 ), f0 )
T
i∈S 0
v=1
≤ E[V (ξ (0 ), f0 )] − E[V (ξ (t ), i )]
≤ E[V (ξ (0 ), f0 )]. (29)
Therefore,
 T
EV (ξ (0 ), f0 )
E[ (ξ (s ), fs )ds|(ξ (0 ), f0 )] ≤    . (30)
0 
2m
min λmin − ηv
i∈S v=1
8 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569

After that, we obtain

 T

lim E x (s )x(s )ds ≤ T (x(0 ), f0 ),
T
(31)
t→∞ 0

which means the system (11) can still maintain the stochastic stability under the disturbance, and the set ∩N
i=1
η (Pi ) is
contained in the attractive domain.
The proof is completed. 

4. Disturbance observer design and controller solution

Theorem 2. If we can assume that Xi , P1i , P2i are symmetric positive definite, V1i , V2i are symmetric matrices and Yi , Q1i , Q2i
are appropriate matrices, for ∀i ∈ S, the following inequalities hold
⎡ 2i 4i 9i 0
⎤
1i
⎢ ∗ 3i 0 0 11i ⎥
⎢ ∗ ∗ 5i 0 0 ⎥ < 0, i ∈ Ski , (32)
⎣ ⎦
∗ ∗ ∗ 10i 0
∗ ∗ ∗ ∗ 10i
⎡ 2i 7i 9i 0
⎤
6i
⎢ ∗ 3i 0 0 11i ⎥
⎢ ∗ ∗ 8i 0 0 ⎥ < 0, i ∈
/ Ski , (33)
⎣ ⎦
∗ ∗ ∗ 10i 0
∗ ∗ ∗ ∗ 10i
 ˜ 
−V1i 0 X1i
i
∗ P2i − V˜2i 0 ≤ 0, j ∈ Suk , j = i, (34)
∗ ∗ −X1 j

diag{X1i − V˜1i , P2i − V˜2i } ≥ 0, j ∈ Suk

i
, j = i, (35)

⎡ ⎤
−X1i 0 ViqT
⎣ ∗ −P2i Q1Tiq ⎦ < 0, q = 1, 2, . . . , m, (36)
∗ ∗ −I

where
 1 
1i = Ai X1i + X1i ATi + BiUvYi + YiT Uv BTi + BiUv− Q1i + Q1TiUv− BTi + k2i j X˜i + λii (h )X1i − λi j (h )V˜1i ,
4
j∈Ski ij∈Sk

2i = BiVi + [Q2i BiUv (Q1i − Yi )] ,

− T

1 
3i = P2iWi + Q2i BiVi + WiT P2i + ViT BTi Q2Ti + k2i j + λi j (h )(P2 j − V˜2i ),
i
4 i
j∈Sk j∈Sk
    
4i = λiki1 X1i , . . . , λikir−1 X1i , λikir+1 X1i , . . . , λikim X1i ,
5i = diag{−X1ki1 , . . . , −X1kir−1 , −X1kir+1 , . . . , −X1kim },
 1 
6i = Ai X1i + X1i ATi + BiUvYi + YiT Uv BTi + BiUv− Q1i + Q1TiUv− BTi + k2i j X˜i − λi j (h )V˜1i ,
4
j∈Ski i
j∈Sk
  
7i = λiki1 X1i , . . . , λikim X1i ,
!
8i = diag −X1ki1 , . . . , −X1kim ,
" #
9i = P˜ki1 , . . . , Pk˜im
" #
10i = −Iki1 , . . . , −Ikim .
" #
11i = P2ki1 − R2i , . . . , P2kim − R2i
 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569 9

Then, the closed-loop system (11) is local stochastically stable, and

F1i = Q1i X1−1

i
, Li = P2−1
i
Q2i , Ki = Yi X1−1
i
.

Moreover, the estimate of the attraction domain is given by

δ = δ 2 λmax (Xi−1 ),

and δ ≤ 1, where λmax (Xi−1 ) stands for the maximum eigenvalue of Xi−1 .

Proof. Let
   
P1i 0 X1i 0
Pi = , X1i = P1−1 , Xi = ,
∗ P2i i ∗ I
Yi = Ki X1i , Q1i = F1i X1i , Q2i = P2i Li , X1i X1i = X˜i ,
 
V˜ 0
V˜i = Xi Ri Xi = 1i , X1i (P1 j − R1i ) = P˜j . (37)
∗ V˜2i

Let’s multiply both sides of inequality (12) by Xi , we can obtain

˜ 
1i 2i 0
∗ 3i 11i < 0, (38)
∗ ∗ 12i
where


˜ 1i = Ai X1i + X1i AT + BiUvYi + Y T Uv BT + BiUv− Q1i + Q T Uv− BT
i i i 1i i
 1

+ X1i ki j X1i + X1i (P1 j − R1i )(P1 j − R1i ) X1i

2 T
4
j∈Ski

+ λi j (h )(X1i X1−1j X1i − V˜1i ).
j∈Ski

Then, according to the Theorem 1, due to ∀i ∈ S, λij (h) < 0, inequality (38) follows: a. if i ∈ Ski , using the shur lemma, we
/ Ski , using the shur lemma, we get the inequality (33).
get the inequality (32), b. if i ∈
Letting Xi multiply both sides of the inequality (13), the calculation is equivalent to the inequality (34) in Theorem 2.
Letting Xi multiply both sides of the inequality (14), the calculation is equivalent to the inequality (35) in Theorem 2.
According to Ref. [41], (15) is equivalent to (36).
The proof is completed. 

5. Estimation of domain of attraction

This section aims to solve the problem of saturation nonlinearity for the system (11), and it is necessary to estimate the
$
largest domain of attractive. We use the biggest α to measure the scope of N i=1 η (Pi ) in the shape reference set ρ , and if
$N
α > 1, we have αρ ⊂ i=1 η (Pi ). The optimal value of α needs to be calculated, and this is an convex optimization problem.
Therefore, the optimization algorithm is given as

sup α
α , X1i , P2i , V˜1i , V˜2i .Yi , Q1i , Q2i
%
N
s.t. αρ ⊂ η (Pi ).
i=1

Inequalities(32 ) − (36 )hold. (39)

There are two shape reference set as the ellipsoid

ρ = {ξ (t ) ∈ T n+nc , ξ T (t )Rξ (t ) ≤ 1, R > 0},

and the polyhedron

ρ = cov{ξ1 , ξ2 , . . . , ξl },
10 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569

$N
where ξ 1 , ξ 2 , ..., ξ l are the known points. If ρ is an ellipsoid, the constraint αρ ⊂ i=1 η (Pi ) is equivalent to
⎡ ⎤
β R1 0 X1i 0
⎢ ∗ β R2 0 P2i ⎥
⎣ ∗ > 0, ∀i ∈ S,
0⎦
(40)
∗ X1i
∗ ∗ ∗ P2i
where R = diag{R1 , R2 }.
$
If ρ is a polyhedron, the constraint αρ ⊂ N
i=1 η (Pi ) is equivalent to
 
β ξ1Tq ξ2Tq P2i
∗ X1i 0 > 0, ∀i ∈ S, (41)
∗ ∗ P2i

where ξqT = diag{ξ1Tq , ξ2Tq }, q = 1, 2, . . . , l.

Therefore, the optimization problem (39) is equivalent to

inf β
β , X1i , P2i , V˜1i , V˜2i .Yi , Q1i , Q2i
s.t . inequalit ies(32 ) − (36 )hold.
and (40 )or (41 )hold. (42)
If βmin < 1(αmax > 1 ), we can infer that the initial state of the system is contained in the attractive domain, where

Li = P2−1
i
Q2i , Ki = Yi X1−1
i
.

Algorithm 1. Step 1: The initial value of the matrix Q2i is given, and it has to be non-zero.
Step 2: According to the nonzero initial matrix, values of matrix Q1i and Yi are obtained by solving Theorem 2.
Step 3: Solving the optimization problem (42) by the matrix Q1i and Yi obtaining from Step 2, and renewing the values
of Q2i and β , where γ = β , we can get the largest attraction domain δmax = √1γ .
Step 4: If |γnew − γold | < ε , where ε stands for a small enough positive number, the iteration must be stopped. Otherwise,
go to Step 5.
Step 5: Go back to Step 2 with the matrix Q2i obtained from Step 3.

Remark 5. The optimization problem (42) is not given in the form of LMIs, but the BLMIs. And if we determine the initial
value of Q2i , this problem can be described as LMIs problem. The hidden goal of this paper is to calculate the maximum
initial state in the attraction domain.

6. Numerical example

In this section, two examples are selected to demonstrate the accuracy of the proposed methods above.

Example 1. A robot arm model in [55] is given as follow:

Mgl F (t ) 1
¨ (t ) = − sin( (t )) − ˙ (t ) + u(t ),
J J J
where ϖ(t) stands for the angle of the arm movement, M stands for the mass of the payload, g, l and J are the acceleration
of gravity, the length of the arm, and the moment of inertia respectively. Then, we know that g = 9.81, F = 2 and l = 0.5.
Therefore, we choose the two mode of the robot arm as
   
0 1 0 1
A1 = , A2 = ,
−gl −F −0.75gl −0.5F

   
0 0
B1 = , B2 = ,
1 0.5

 
0 5
W1 = W2 = ,
−5 0

" # " #
V1 = 2.0 0 , V2 = 1.0 0 ,
R = I4 , ε = 0.0 0 01.
 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569 11

3
mode

2.5

2
mode

1.5

0.5

0
0 2 4 6 8 10 12 14 16 18 20
t/s
Fig. 1. System mode.

The TR matrix is shown as

 
? ?
λi j (h ) = ,
1.5 + λ21 (h ) −1.5 + λ22 (h )

where, λi j (h ) ≤ ki j = |0.1 × λi j (h )|. The numerical value is substituted into iterative algorithm 1, and the results can be
obtained that β = 0.8745, δmax = 1.0694. Then, the control gains are given as
" # " #
K1 = 0.0 0 07 −0.0070 , K2 = 1.8086 −0.9177 ,
the disturbance observer gains are given as
   
−0.0123 −0.3769 0.2711 −1.2559
L1 = , L2 = .
−0.3088 −0.0143 −1.0635 0.3086

The domain of attraction can be described as

Xδ = {ς ∈ R+n : ς 2 ≤ 1.0694}.
For initial condition ξ (0 ) = [1 − 10 0 2], Fig. 1 represents the stochastic jump rule of the semi-Markovian process, Fig. 2
represents the description of the disturbance estimation error d (t ) − dˆ(t ), and Fig. 3 represents the state trajectory of x(t).
Showing from the figures the disturbance observer works well. These figures demonstrate the accuracy and veracity of the
theorems.

Example 2. Numerical verification is carried out on the basis of cognitive radio (CR) network, and the subsystem commu-
nication is very important when the system is interactive operation. Each channel has two states in the CR network, and
each state satisfies a certain probability distribution. In this section, the CR structure of the semi-Markov process with one
channel is adopted, and the S-MJSs with two modes are selected as the example to analysis. The two modes stand for busy
and idle models [56].
Model 1 is
   
−2 12 8
A1 = , B1 = ,
−1 1 9

 
0 0.5 " #
W1 = , V1 = 2.0 0 .
−0.5 0
12 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569

Fig. 2. Estimation error.

4
x
1

2 x2

-2
x 1 ,x 2

-4

-6

-8

-10
0 2 4 6 8 10 12 14 16 18 20
t/s
Fig. 3. State trajectory.
 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569 13

3
mode

2.5

2
mode

1.5

0.5

0
0 2 4 6 8 10 12 14 16 18 20
t/s
Fig. 4. System mode.

Fig. 5. Estimation error.

14 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569

1.5
x
1
1
x2

0.5

-0.5
x 1 ,x 2

-1

-1.5

-2

-2.5

-3

-3.5
0 2 4 6 8 10 12 14 16 18 20
t/s
Fig. 6. State trajectory.

Model 2 is
   
6 2 9
A2 = , B2 = ,
9 −6 2

 
0 0.5 " #
W2 = , V2 = 1.0 0 ,
−0.5 0

we have that R = I4 , and ε = 0.0 0 01.

The TR matrix is shown as
 
? ?
λi j (h ) = ,
2.2 + λ21 (h ) −2.2 + λ22 (h )

where, λi j (h ) ≤ ki j = |0.1 × λi j (h )|. The numerical value is substituted into iterative Algorithm 1, and the results can be
obtained that β = 0.8450, δmax = 1.0879. Then, one has the control gains as
" # " #
K1 = −0.0612 −0.0971 , K2 = −1.3647 −1.1105 ,
and the disturbance observer gains as
   
−0.7402 −0.6272 −2.1209 0.0302
L1 = , L2 = .
−1.0499 0.3959 0.2901 0.1078

The domain of attraction can be described as follows:

Xδ = {ς ∈ R+n : ς 2 ≤ 1.0879}.
For initial condition ξ (0 ) = [1 − 1 0 0], in example 2, Fig. 4–6 represent the simulation verification results of CR model
under the theorem in this paper, respectively. It can be seen from the figures that the observer works well and the system
runs normally.

7. Conclusions

This paper demonstrates the stochastic stability of DOBC for S-MJSs with actuator saturation. And the S-MJSs with un-
certain TR is investigated. First, by employing stochastic stability theory, sufficient conditions for stochastic stability of the
 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569 15

S-MJSs are given. Then, for the actuator saturation problem, the estimation of the maximum attractive region is carried out.
Furthermore, the controller and disturbance observer are designed under the premise of satisfying the performance require-
ments of the system. In the future work, the research achievements of this paper can be extended to the anti-disturbance
controller design for more complex systems.

Acknowledgments

This work is supported by National Natural Science Foundation of China under grants (61573087, 61573088, 61703231,
61773235, 61773236, 61873331, 61433004).

References

[1] H. Wang, Q. Zhu, Finite-time stabilization of high-order stochastic nonlinear systems in strict-feedback form, Automatica 54 (2015) 284–291.
[2] H. Wang, Q. Zhu, Global stabilization of stochastic nonlinear systems via c1 and c∞ controllers, IEEE Trans. Autom. Control 62 (11) (2017) 5880–5887.
[3] C. Ge, H. Wang, Y. Liu, J.H. Park, Stabilization of chaotic systems under variable sampling and state quantized controller, Fuzzy Sets Syst. 344 (2018)
129–144.
[4] Q. Zhu, H. Wang, Output feedback stabilization of stochastic feedforward systems with unknown control coefficients and unknown output function,
Automatica 87 (2018) 166–175.
[5] Q. Zhu, Stability analysis of stochastic delay differential equations with Lévy noise, Syst. Control Lett. 118 (2018) 62–68.
[6] O.L.V. Costa, M.D. Fragoso, R.P. Marques, Discrete-time Markov jump linear systems, Springer-Verlag, London, 2005.
[7] Q. Zhu, Razumikhin-type theorem for stochastic functional differential equations with Lévy noise and Markov switching, Int. J. Control 90 (8) (2017)
1703–1712.
[8] B. Wang, Q. Zhu, Stability analysis of Markov switched stochastic differential equations with both stable and unstable subsystems, Syst. Control Lett.
105 (2017) 55–61.
[9] J. Wang, M. Chen, H. Shen, J.H. Park, A Markov jump model approach to reliable event-triggered retarded dynamic output feedback h∞ control for
networked systems, Nonlinear Anal. 26 (2017) 137–150.
[10] J. Cheng, C.K. Ahn, H.R. Karimi, J. Cao, W. Qi, An event-based asynchronous approach to Markov jump systems with hidden mode detections and
missing measurements, IEEE Trans. Syst. Man Cybern. doi:10.1109/TSMC.2018.2866906.
[11] H. Shen, F. Li, H. Yan, H.R. Karimi, H.K. Lam, Finite-time event-triggered h∞ control for t-s fuzzy Markov jump systems, IEEE Trans. Fuzzy Syst. 26 (5)
(2018) 3122–3135.
[12] W. Qi, J.H. Park, J. Cheng, Y. Kao, X. Gao, Exponential stability and l1 -gain analysis for positive time-delay Markovian jump systems with switching
transition rates subject to average dwell time, Inf. Sci. 424 (2018) 224–234.
[13] J. Cheng, J.H. Park, J. Cao, W. Qi, Hidden Markov model-based nonfragile state estimation of switched neural network with probabilistic quantized
outputs, IEEE Trans. Cybern. doi:10.1109/TCYB.2019.2909748.
[14] H. Shen, Z.-G. Wu, J.H. Park, Reliable mixed passive and h1 filtering for semi-Markov jump systems with randomly occurring uncertainties and sensor
failures, Int. J. Robust Nonlinear Control 25 (17) (2015) 3231–3251.
[15] B. Wang, Q. Zhu, Stability analysis of semi-Markov switched stochastic systems, Automatica 94 (2018) 72–80.
[16] W. Qi, J.H. Park, G. Zong, J. Cheng, l1 finite-time stabilization for positive semi-Markovian switching systems, Inf. Sci. 477 (2019) 321–333.
[17] R. Wang, S. Fei, Output tracking for nonlinear discrete-time systems via fuzzy control approach, J. Franklin Inst. 352 (10) (2015) 4147–4162.
[18] Q. Zhu, Q. Zhang, PTh moment exponential stabilisation of hybrid stochastic differential equations by feedback controls based on discrete-time state
observations with a time delay, IET Control Theory Appl. 11 (12) (2017) 1992–2003.
[19] C. Ge, B. Wang, X. Wei, Y. Liu, Exponential synchronization of a class of neural networks with sampled-data control, Appl. Math. Comput. 315 (2017)
150–161.
[20] H. Du, J. Zhai, M.Z.Q. Chen, W. Zhu, Robustness analysis of a continuous higher-order finite-time control system under sampled-data control, IEEE
Trans. Autom. Control. doi:10.1109/TAC.2018.2867603.
[21] H. Du, X. Yu, M.Z.Q. Chen, S. Li, Chattering-free discrete-time sliding mode control, Automatica 68 (2016) 87–91.
[22] H. Shen, F. Li, S. Xu, Victor sreeram, slow state variables feedback stabilization for semi-Markov jump systems with singular perturbations, IEEE Trans.
Autom. Control 63 (8) (2017) 2709–2714.
[23] H. Shen, F. Li, Z.-G. Wu, J.H. Park, Victor sreeram, fuzzy-model-based non-fragile control for nonlinear singularly perturbed systems with semi-Markov
jump parameters, IEEE Trans. Fuzzy Syst.. doi:10.1109/TFUZZ.2018.2832614.
[24] H. Shen, Y. Men, Z.-G. Wu, J. Cao, G. Lu, Network-based quantized control for fuzzy singularly perturbed semi-Markov jump systems and its application,
IEEE Trans. Circuits Syst. 66 (3) (2018) 1130–1140.
[25] L. Zhang, E.K. Boukas, H∞ Control for discrete-time markovian jump linear systems with partly unknown transition probabilities, Int. J. Robust Non-
linear Control 19 (8) (2009) 868–883.
[26] H. Shen, L. su, J.H. Park, Reliable mixed h∞ / passive control for TCS fuzzy delayed systems based on a semi-Markov jump model approach, Fuzzy Sets
Syst. 314 (2017) 79–98.
[27] J. Wang, T. Ru, J. Xia, Y. Wei, Z. Wang, Finite-time synchronization for complex dynamic networks with semi-Markov switching topologies: an h∞
event-triggered control scheme, Appl. Math. Comput. 356 (2019) 235–251.
[28] J. Wang, M. Chen, H. Shen, Event-triggered dissipative filtering for networked semi-Markov jump systems and its applications in a mass-spring system
model, Nonlinear Dyn. 87 (4) (2017) 2741–2753.
[29] H. Shen, M. Dai, H. Yan, J.H. Park, Quantized output feedback control for stochastic semi-Markov jump systems with unreliable links, IEEE Trans.
Circuits Syst. II 65 (12) (2018) 1998–2002.
[30] W. Qi, G. Zong, H.R. Karimi, l∞ Control for positive delay systems with semi-Markov process and application to a communication network model, IEEE
Trans. Ind. Electron. 66 (3) (2019) 2081–2091.
[31] W. Qi, G. Zong, H.R. Karimi, Observer-based adaptive SMC for nonlinear uncertain singular semi-Markov jump systems with applications to DC motor,
IEEE Trans. Circuits Syst. I 65 (9) (2018) 2951–2960.
[32] J. Wang, S. Ma, C. Zhang, Stability analysis and stabilization for nonlinear continuous-time descriptor semi-Markov jump systems, Appl. Math. Comput.
279 (2016) 90–102.
[33] W. Qi, J.H. Park, G. Zong, J. Cao, J. Cheng, A fuzzy Lyapunov function approach to positive l1 observer design for positive fuzzy semi-Markovian
switching systems with its application, IEEE Trans. Syst. Man Cybern. doi:10.1109/TSMC.2018.2882536.
[34] Q. Zhu, Stabilization of stochastic nonlinear delay systems with exogenous disturbances and the event-triggered feedback control, IEEE Trans. Autom.
Control. doi:10.1109/TAC.2018.2882067.
[35] S. Ding, L. Liu, W. Zheng, Sliding mode direct yaw-moment control design for in-wheel electric vehicles, IEEE Trans. Ind. Electron. 64 (8) (2017)
6752–6762.
[36] H. Wang, Q. Zhu, Adaptive output feedback control of stochastic nonholonomic systems with nonlinear parameterization, Automatica 98 (2018)
247–255.
16 T. Xu, X. Gao and W. Qi et al. / Applied Mathematics and Computation 362 (2019) 124569

[37] J. Han, H. Zhang, Y. Wang, X. Liu, Anti-disturbance control for nonlinear system via adaptive disturbance observer, Int. J. Robust Nonlinear Control 27
(12) (2017) 2121–2144.
[38] Y. Li, H. Sun, G. Zong, L. Hou, Disturbance observer-based-control and resilient control for Markovian jump nonlinear systems with multiple distur-
bances and its application to single robot arm system, IET Control Theory Appl. 10 (2) (2016) 226–233.
[39] W. Qi, J.H. Park, J. Cheng, Y. Kao, X. Gao, Anti-windup design for stochastic markovian switching systems with mode-dependent time-varying delays
and saturation nonlinearity, Nonlinear Anal. 26 (2017) 201–211.
[40] W. Qi, Y. Kao, X. Gao, Y. Wei, Controller design for time-delay system with stochastic disturbance and actuator saturation via a new criterion, Appl.
Math. Comput. 320 (1) (2018). 535–54
[41] Y. Wei, W. Zheng, S. Xu, Anti-disturbance control for nonlinear systems subject to input saturation via disturbance observer, Syst. Control Lett. 85
(2015) 61–69.
[42] J. Wang, L. Su, H. Shen, Z.-G. Wu, J.H. Park, Mixed h∞ / passive sampled-data synchronization control of complex dynamical networks with distributed
coupling delay, J. Franklin Inst. 353 (3) (2017) 1302–1320.
[43] S. Ding, W.-H. Chen, K. Mei, D. Murray-Smith, Disturbance observer design for nonlinear systems represented by input-output models, IEEE Trans. Ind.
Electron. doi:10.1109/TIE.2019.2898585.
[44] X. Yao, L. Guo, Composite anti-disturbance control for Markovian jump nonlinear systems via disturbance observer, Automatica 49 (8) (2013)
2538–2545.
[45] W. Qi, J.H. Park, G. Zong, J. Cao, J. Cheng, Anti-windup design for saturated semi-Markovian switching systems with stochastic disturbance, IEEE Trans.
Circuits Systems-II. doi:10.1109/TCSII.2018.2875777.
[46] F. Li, S. Xu, B. Zhang, Resilient asynchronous h∞ control for discrete-time Markov jump singularly perturbed systems based on hidden Markovmodel,
IEEE Trans. Syst. Man Cybern. doi:10.1109/TSMC.2018.2837888.
[47] F. Li, S. Xu, H. Shen, Fuzzy-model-based h∞ control for Markov jump nonlinear slow sampling singularly perturbed systems with partial information,
IEEE Trans. Fuzzy Syst.. doi:10.1109/TFUZZ.2019.2892922.
[48] R. Wang, L. Hou, G. Zong, S. Fei, D. Yang, Stability and stabilization of continuous-time switched systems: a multiple discontinuous convex Lyapunov
function approach, Int. J. Robust Nonlinear Control 29 (5) (2019) 1499–1514.
[49] A. Isidori, Nonlinear Control Systems, Springer-Verlag, London, 1995.
[50] L. Guo, W.-H. Chen, Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach, Int. J. Robust Nonlinear Control 15 (3)
(2005) 109–125.
[51] X. Yao, L. Zhu, L. Guo, Disturbance-observer-based control and h∞ control for non-linear Markovian jump singular systems with multiple disturbances,
IET Control Theory Appl. 8 (16) (2014) 1689–1697.
[52] C. Zheng, Q. Shan, H. Zhang, Z. Wang, On stabilization of stochastic Cohen–Grossberg neural networks with mode-dependent mixed time-delays and
markovian switching, IEEE Trans. Neural Netw. Learn. Syst. 24 (5) (2013) 800–811.
[53] H. Liu, E.K. Boukas, F. Sun, D.W.C. Ho, Controller design for Markov jump systems subject to actuator saturation, Automatica 42 (3) (2006) 459–465.
[54] Q. Zhu, S. Song, T. Tang, Mean square exponential stability of stochastic nonlinear delay systems, Int. J. Control 90 (11) (2017) 2384–2393.
[55] K. Tanaka, T. Kosaki, Design of a stable fuzzy controller for an articulated vehicle, IEEE Trans. Syst. Man Cybern. Part B 27 (3) (1997) 552–558.
[56] X. Liu, X. Yu, X. Zhou, H. Xi, Finite-time h∞ control for linear systems with semi-Markovian switching, Nonlinear Dyn. 85 (4) (2016) 2297–2308.