Local Sampled-data Controller Design for T-S
Fuzzy Systems with Saturated Actuators
Adriano N.D. Lopes, Kevin Guelton, Laurent Arcese, and Valter J.S. Leite
Abstract— This paper deals with the local stabilization of
continuous-time Takagi-Sugeno (T-S) systems under satu-
rated actuators and driven by sampled-data controllers. The
generalized sector condition is used to cope with the satu-
rated signals and the sampled-data closed-loop dynamics
is rewritten as a T-S system with saturated input with time-
varying delays. Then, by selecting a convenient Lyapunov-
Krasovskii Functional and the application of some useful
overbounding techniques, new LMI-based conditions are
proposed for the design of saturated sampled-data Parallel-
Distributed-Compensation controllers, together with the es-
timation of the closed-loop domain of attraction. A sim-
ulation example illustrates the effectiveness of this pro-
posal and shows the achieved conservatism improvement
regarding to previous related studies.
Index Terms— Takagi-Sugeno models, Saturated actua-
tors, Sampled-data control, Local stabilization.
I. I NTRODUCTION
AMPLED-data controller design for continuous-time sys-
S tems caught much attention during the past decades [1],
[2]. Indeed, several mechatronic or industrial plants, where
data from sensors and controllers flows over digital medium or
networks, have to cope with induced delays, jitters, package-
losses, etc. Also, in embedded or networked systems, espe-
cially with the advent of event-trigger control, time-varying
sampling is often helpful to keep as low as possible the
computational cost or energy consumption [2], [3]. In this
context, from the overall stability analysis point of view, the
evolution of the continuous-time system under time-varying
sampling control signals must be carried on. Indeed, this point
is not handled by classical discrete-time control methodolo-
gies, which don’t guarantee the inter-sampling stability of
the considered continuous-time system, especially for large
sampling periods [1]–[3]. As a consequence, maximizing
the allowed sampling intervals that ensure the stability of
closed-loop sampled-data systems, is commonly considered to
compare and establish the effectiveness of the proposed design
procedures [1]–[11].
Submitted 08-05-2020.
Manuscript received March 8, 2020; revised July 24, 2020; accepted
August 14, 2020. Manuscript received March 8, 2020; revised July 24,
2020; accepted August 14, 2020. This work is funded by the Region
Grand-Est (France), with the CPER FFCA projet, and by the CEFET-
MG/CNPq (Brazil), grant 311208/2019-3.
A.N.D. Lopes, K. Guelton and L. Arcese are with the CReSTIC -
Université de Reims Champagne-Ardenne, 51100 Reims, France (e-
mail: {adriano.lopes,kevin.guelton,laurent.arcese}@univ-reims.fr).
A.N.D. Lopes and V.J.S. Leite are with the Department of Mechatron-
ics Engineering, CEFET-MG - Campus Divinópolis, Divinópolis, 35503-
822, MG, Brazil (e-mail: {adriano,valter}@cefetmg.br).
The goal of this work is to provide a new and less conserva-
tive design methodology for the sampled-data stabilization of
nonlinear systems, admitting the largest as possible aperiodic
sampling intervals. In this context, from the well-known sector
non-linearity approach, the class of continuous-time Takagi-
Sugeno (T-S) models is considered to represent nonlinear
systems on compact subsets of their state space [12]–[15].
Furthermore, considering that actuators are subjected to phys-
ical limitations, that frequently occurs in practice due to finite
power source, we will introduce input saturation constraints
into the design procedure [16].
To achieved the aforementioned goal, note that, following
the pioneer works on sampled-data control for linear systems
[1], extensions to the T-S model-based framework have been
proposed with successive conservatism improvements of the
controller design conditions [4]–[11]. Despite [17], there is
no previous work dealing with the sampled-data stabilization
of T-S models under saturated actuators. Moreover, sampled-
data Parallel Distributed Compensation (PDC) controllers for
continuous-time T-S models induce a double fuzzy sum struc-
ture of the closed-loop dynamics with mismatching member-
ship functions (MFs). To cope with such mismatches and
so to relax the proposed conditions, we will consider a
recently proposed extension of Tuan’s relaxation lemma [13],
parameterized by the bounds of the MFs’ derivatives [11].
Note also that, because of the local validity region (compact
subset of the state space) of the considered T-S model, the
introduction of the the bounds of the MFs’ derivatives and
the actuators’ limitations, the closed-loop stability cannot be
guaranteed globally on the whole state space and so require an
estimate of the domain of attraction (Da ). Some recent works
dealing with such issues can be found in the discrete-time
framework, see e.g. [18], [19]. Nevertheless, from the best of
the authors knowledge, there is no previous papers addressing
the estimation of Da for closed-loop sampled-data T-S models,
even less with saturated actuators. Such concerns, associated
with the aforementioned goal of reducing the conservatism of
the design conditions, motivate this study. In this context, the
main contributions can be summarized by the following items:
1) to propose new relaxed controller design conditions for
sample-data control of T-S models with saturated actuators,
2) to provide an estimate of the designed closed-loop sampled-
data plant domain of attraction.
The remaining of this paper is organized as follows. First,
preliminaries are presented in Section II. Then, by selecting
a convenient Lyapunov-Krasovskii Functional (LKF), relaxed
LMI-based design conditions are proposed in section III.
Section IV provides an illustrative example with comparisons The following lemmas will be used in the next section.
to previous results, which shows the benefit of our proposal. Lemma 1: [16] Consider the vector ū ∈ Rm and signals
Notations. Stars ? in matrices denote block transpose quan- u ∈ Rm and ω ∈ Rm belonging to the set S given by:
tities. We denote the set of integers Ir = {1, ..., r}, for any
S(ū) = {u ∈ Rm , ω ∈ Rm : |u(`) −ω(`) | ≤ ū(`) , ` ∈ Im } (7)
matrix M , M(`) denotes its `th line and H(M ) = M+M T , for
T
vectors v1 , . . . , vn , col{v1 , . . . , vn } = [v1T . . . vnT] and for Then the dead-zone function satisfies ψ(u)T Dψ(u + ω) ≤ 0 for
matrices M1 , . . . , Mn with appropriate dimensions, a diagonal any m × m diagonal matrix D > 0.
block matrix is denoted diag{M1 , . . . , Mn }. Lemma 2: [20] For any symmetric positive definite matrix
R ∈ Rn×n , a scalar function τ (t) with 0 < τ (t)
R t ≤ τM , and a
II. P RELIMINARIES vector function ẋ : [−τM , 0] → Rn , such that t−τ (t) ẋ(s)ds =
We focus on continuous-time nonlinear systems with satu- Eξ(t) is well-defined with E ∈ Rn×k and ξ(t) ∈ Rk , then
rated actuators represented by: the following inequality holds for any matrix M ∈ Rn×k :
Z t
ẋ(t) = A(x(t))x(t) + B(x(t))sat(u(t)), (1) − ẋT (s)Rẋ(s)ds ≤ ξ T (t)Υξ(t) (8)
t−τ (t)
where x(t) ∈ Rn is the state vector, u(t) ∈ Rm is the input where Υ = −E T M − M T E + τ (t)M T R−1 M .
vector, A(x(t)) ∈ Rn×n and B(x(t)) ∈ Rn×m are matrices Lemma 3: [21] For any matrix P = P T > 0 and τ (t) ∈
with nonlinear entries, and the decentralized vector valued [0, ηk ), the following inequality holds:
function sat(·) : Rm → Rm is defined as: Z t Z t Z t
T 1 T
sat(u(`) (t)) = sign(u(`) (t)) min(|u(`) (t)|, ū(`) ), ∀` ∈ Im , x (s)P x(s)ds ≥ x (s)P x(s)ds (9)
(2) t−τ (t) ηk t−τ (t) t−τ (t)
n m×n T n×n
Lemma 4: [22] Let ξ ∈ R , G ∈ R and Q = Q ∈ R
with ū(`) the maximal allowed value for input signals u(`) (t).
such that rank(G) < n. ∀ξ 6= 0, if ξ TQξ < 0 and Gξ = 0, then:
From the sector nonlinearity approach [12], we can define
a compact subset Dx ⊆ Rn , given by: ∃X ∈ Rn×m : Q + XG + GT XT < 0 (10)
n o Lemma 5: [11] For (i, j) ∈ Ir2 , let Λij be matrices of
Dx = x(t) ∈ Rn | L(j) x(t) ≤ d(j) (3) appropriate dimensions. Assuming that ∀t, |α̇i (t)| ≤ φi , the
with L ∈ Rκ×n , dj ∈ Rκ , and j ∈ Iκ , inside which the inequality Λαᾱ < 0 is satisfied if there exists diagonal matrices
following T-S model matches (1): Tij > 0 such that the following conditions hold:
(
Xr Φii < 0, ∀i ∈ Ir
ẋ(t) = αi (z(t)) (Ai x(t) + Bi sat(u(t))) , (4) (11)
i=1 2
r−1 Φii + Φij + Φji < 0, ∀ (i, j) ∈ Ir2 , i 6= j
p
with r the number of local models, z(t) ∈ R the vector
Λij + r−1
 
16 Tij ? ... ?
of premises depending only on the state variables, ∀i ∈ Ir , σ1 Λ̄ij1 −Tij ··· 0
Ai and BiPare real matrices and αi (z(t)) ∈ [0, 1] are MFs with Φij =   and, ∀q ∈
 
. . .. .
. . . .
r . . .
satisfying i=1 αi (z(t)) = 1. σr−1 Λ̄ijr−1 0 0 −Tij
Let tk , k ∈ N, be sampling instants with aperiodic sampling Ir−1 , Λ̄ijq = Λiq + Λjq − Λir − Λjr and σq = min{1, φq η̄}.
periods ηk = tk+1 −tk ≤ η̄, where η̄ is the maximal allowable
sampling period to be enlarged as much as possible. For actual III. M AIN RESULTS
t ∈ [tk , tk+1 ), we define τ (t) = t−tk ∈ [0, ηk ), which implies Theorem 1: Let (i, j) ∈ Ir2 and assume that ∃φi > 0 such
τ̇ (t) = 1, so that x(t−τ (t)) is the sustained value of x(tk ) that ∀t, |α̇i (t)| ≤ φi . For given symmetric input saturation
during two successive samples. We investigate the following ū ∈ Rm + and for aperiodic sampling periods 0 < ηk ≤ η̄ to
sampled-data state-feedback PDC control law: be maximized, the T-S model (4) under saturated actuators
Xr
u(t) = αi (z(t−τ (t)))Ki X −1 x(t−τ (t)), (5) is stabilized by the PDC sampled-data controller (5) if there
i=1
exists a diagonal positive matrix Dj ∈ Rm×m , the matrices
where Ki ∈ Rm×n and X −1 ∈ Rn×n are gain matrices. 0 < L̄ = L̄T ∈ Rn×n , M̄j = M̄jT ∈ R4n×4n , N̄j = N̄jT ∈ R2n×2n ,
PIn the sequel, we denote Pr fuzzy matrices as Mα = F̄j ∈ Rm×n , P̄11ij = P̄11ij
T
∈ Rn×n , 0 < P̄22ij = P̄22ijT
∈ Rn×n ,
r n×n n×n m×n 4n×n T
Pi=1 α i (z(t))M i , M ᾱ = i=1 αi (z(t−τ (t)))Mi and Mαᾱ = P̄12ij ∈ R , X ∈ R , Kj ∈ R , Ȳij ∈ R , Ūij = Ūij ∈
r Pr
i=1 j=1 α i (z(t))α j (z(t − τ (t)))Mij . Therefore, by sub- R 3n×3n
and the scalars ε1 , ε2 and ε3 , such that (11) and:
stituting (5) into (4) and considering the dead-zone function 
L̄ ?

ψ(v(t)) = sat(v(t)) − v(t), yields the closed-loop dynamics: (Kj − F̄j )(`) ū2 ≥ 0, ∀` ∈ Im , (12)
(`)
 
ẋ(t) =Aα x(t) + Bα sat Kᾱ X −1 x(t−τ (t)) are satisfied with:
Λ1
 
−1 ? ? ?
=Aα x(t) + Bα Kᾱ X x(t−τ (t)) (6) ij
0 Λ2
ij ? ?
Λij =  , (13)
   
+Bα ψ Kᾱ X −1x(t−τ (t)) 0 0 M̄j0 − Ūij ?
0 0 0 −P11ij
Problem statement: Design the saturated sampled-data con-
where Λ1ij = Γ̄0Σij +Iε Ḡij + ḠTij ITε , Iε = [ I ε1I ε2I ε3I I ]T ,
troller (5) such that the closed-loop dynamics (6) is stable into
a guaranteed domain of attraction Da to be estimated. Ḡij = [ AiX BiKj 0 −X BiDj ],
 η̄ 2S̄ij + η̄ Γ̄1 0 T
" #
Σij + Γ̄Σij +Iε Ḡij + Ḡij Iε ? ?
with:
Λ2ij = η̄ Q̄j −Ūij 0 , Rt Rt
η̄ Ȳij 0 −η̄ P̄22ij ρ(t) = col{ t−τ (t) x(s)ds, t−τ (t) ẋ(s)ds}, χ(t) = col{x(t),ẋ(t)},
Rt Rt

Ūij − M̄j0 0
 ζ(t) = col{x(t), x(t − τ (t)), t−τ (t) x(s)ds, t−τ (t) ẋ(s)ds}.
S̄ij = , Q̄j = [ 0 W̄j ],
0 0 Note that L = LT > 0 ensures that the LKF (16) is continuous
and positive at the sampling times tk since V1 (tk ) > 0 and,
Γ̄1Σij = Γ̄14j + Γ̄13ij + Γ̄12j , Γ̄0Σij = Γ̄04j + Γ̄03ij + Γ̄02j + Γ̄01 + Γ̄00j , for ` = 2, ..., 4, V` (t−
k ) = V` (tk ) = 0. Hence, if the LKF
 
V (t) can be proven to be monotonously decreasing during the
Γ̄04j = ηk E4T M̄j E4 , Γ14j = H ηk E4T M̄j E5 −E4T M̄j E4 ,
inter-sampling interval, i.e. ∀t ∈ [tk , tk+1 ):
P̄11ij 0 0 P̄12j 0
 
0 0 0 0 0 V̇ (t) = V̇1 (t) + V̇2 (t) + V̇3 (t) + V̇4 (t) < 0 (21)
Γ̄13ij = − 0 0 0 0 0 ,
 
? 0 0 P̄22ij 0 then it is positive ∀t ∈ [0, +∞) and (6) is stable.
0 0 0 0 0
From Lemma 1, the sector conditions is introduced with (21),
providing that x(t − τ (t)) ∈ S(Kᾱ X −1 − Fᾱ , ū), for any
 
η̄ P̄11ij − P̄12j 0 0 η̄P̄12j 0
0 P̄12j 0 0 0   diagonal matrix D > 0, such that:
Γ̄03ij =   −H E3T Ȳij , ᾱ
 
0 0 −η̄−1P̄11ij 0 0
−1
V̇(t)−2ψ(Kᾱ x(t−τ (t)))TDᾱ (ψ(Kᾱ X −1 x(t−τ (t)))
 
? 0 0 η̄P̄22ij 0
0 0 0 0 0 (22)
    +Fᾱ x(t−τ (t))) < 0
Γ̄02j = H η̄E1T N̄j E2 −E1T N̄j E1 , Γ̄12j = −H E1T N̄j E2 ,
In the sequel of thisRproof, we consider a vector ξ(t) =
t
0 0 0 L̄ 0
 
0 0 0 0 0
 col{x(t), x(t−τ (t)), t−τ (t) x(s)ds,ẋ(t),ψ(KX −1 x(t−τ (t)))}.
0 0 0 0 F̄jT  Hence, the inequality (22) can be rewritten as:
0 0 0 0 0
Γ̄01 = 0 0 0 0 0 , Γ̄00j = − ,

0 0 0 0 0 
?
0
0
0
0
0
0
0
0
0
0 0 0 0 0 V̇1 (t) + V̇2 (t) + V̇3 (t) + V̇4 (t) +ξ T (t)Γ00ᾱ ξ(t) < 0 (23)
0 ? 0 0 2Dj
0 0 0 0 0

 
M̄11j M̄12j M̄13j M̄14j T −1
? M̄22j M̄23j M̄24j 0 0 0 0 Fᾱ Dᾱ 
M̄j =  ? ∗ M̄33j M̄34j
, with Γ00ᾱ = −0 0 0 0 0 .
0 0 0 0 0
? ? ? M̄44j −1
0 ? 0 0 2Dᾱ
"
H(M̄13j + M̄34j ) T
M̄23j − M̄34j T
M̄33j
# Taking the derivative of V1 (t) we get:
M̄j0 = ? 0 0 ,
? 0 0 V̇1 (t) = 2xT (t)Lẋ(t) = ξ T (t)Γ01 ξ(t) (24)
 
" H(M̄14j )+ M̄11j + M̄44j
# 0 0 0 L 0
W̄j = T
M̄24j − M̄44j + M̄12j T
− M̄14j , E3 = [ I −I 0 0 0 ], 0 0 0 0 0
T
M̄34j + M̄13j
with Γ01 = 0 0 0 0 0.
L 0 0 0 0
h i h i 0 0 0 0 0
0 0 I 0 0 I 0 0 0 0
E1 = I −I 0 0 0 , E2 = 0 0 0 I 0 , Then, note that ρ(t) = E1 ξ(t) and ρ̇(t) = E2 ξ(t), taking the
    derivative of V2 (t) provides:
I 0 0 0 0 0 0 0 I 0
E4 = 
0 I 0 0 0  , E5 =  0 0 0 0 0 . V̇2 (t) = −ρT (t)Nᾱ ρ(t)+2(ηk −τ (t))ρT (t)Nᾱ ρ̇(t)
0 0 I 0 0 I 0 0 0 0 (25)
I −I 0 0 0 0 0 0 I 0 = τ (t)ξ T (t)Γ12ᾱ ξ(t) + ξ T (t)Γ02ᾱ ξ(t)
In this case, an estimate of the domain of attraction Da∗ of

with Γ02ᾱ = H ηkE1TNᾱE2 h−E1TNᾱE1 and Γ 1 T


the designed closed-loop sampled-data system under saturated i 2ᾱ = −H E1 NᾱE2 .
Now, assuming Pαᾱ = P11α ?
ᾱ P12ᾱ
P22αᾱ , P11αᾱ > 0 and
actuators is obtained by maximizing c such that:
since P12ᾱ is constant for t ∈ [tk−1 , tk ), taking the derivative
Da∗ = x(0) ∈ Rn ; ∃c̄ = max c ≤ 1, L(c̄) ⊆ Du ∩Dx ∩Dφ

(14) of V3 (t), then applying Lemma 3, we get:
t
with L(c) = {x(t−τ (t)) ∈ Rn ; x(t−τ (t))T Lx(t−τ (t)) ≤ c}, i.e.
Z
V̇ 3 (t) = (ηk −τ (t))χT(t)Pαᾱ χ(t)− χT(s)Pαᾱ χ(s)ds
by finding the largest equipotential V (x) = c̄ ≤ 1 included in t−τ (t)
Du ∩ Dx ∩ Dφ with Du = L(1), Dx defined by (3) and: Z t
=(ηk −τ (t))χT (t)Pαᾱ χ(t)− xT (s)P11αᾱ x(s)ds
Dφ = ∩rk=1 {x(t) n
∈ R ; |ḣk (z)| 6 φk } (15) t−τ (t)
Z t Z t
Proof 1: Let us consider the LKF candidate given by: − ẋT (s)P22αᾱ ẋ(s)ds−2 xT (s)P12ᾱ ẋ(s)ds
t−τ (t) t−τ (t)
V (t) = V1 (t) + V2 (t) + V3 (t) + V4 (t) (16)
≤(ηk −τ (t))χT (t)Pαᾱ χ(t) + xT (t−τ (t))P12ᾱ x(t−τ (t))
where: Z t Z t
V1 (t) = x(t)T Lx(t), (17) − xT (t)P12ᾱ x(t) − ηk−1 xT (s)P11αᾱ x(s)ds
t−τ (t) t−τ (t)
T
Z t
V2 (t) = (ηk −τ (t))ρ (t)Nᾱ ρ(t), (18) − ẋT (s)P22αᾱ ẋ(s)ds
Z t t−τ (t)
T (26)
V3 (t) = (ηk −τ (t)) χ (s)Pαᾱ χ(s)ds (19) Rt
t−τ (t) T
With E3 = [ I −I 0 0 0 ] we have t−τ (t)
ẋ (s)ds =
V4 (t) = (ηk τ (t) − τ 2 (t))ζ T (t)Mᾱ ζ(t), (20) E3 ξ(t).
Hence, assuming P22αᾱ > 0 and applying Lemma 2, for any which is satisfied if Uαᾱ > 0 and Uαᾱ −Mᾱ0 > 0.
matrix Yαᾱ we have: Now, let us rewrite (6) as G  αᾱ ξ(t) = 0 with Gαᾱ =
Aα Bα Kᾱ X −1 0 −I Bα and (29) as:

V̇3 (t) ≤ (ηk −τ (t))χT (t)Pαᾱ χ(t)
Z t Z t 
−1
−ηk−1 xT (s)P11αᾱ x(s)ds ξ T(t) τ 2 (t)(Sαᾱ +QT
ᾱ Uαᾱ Qᾱ )
t−τ (t) t−τ (t)    (35)
−1
+τ (t) Γ1Σαᾱ +YαTᾱ P22α 0
ᾱ Yαᾱ +ΓΣαᾱ ξ(t) < 0
(27)
 
−1
+ξ T (t) −E3T Yαᾱ −YαTᾱ E3 + τ (t)YαTᾱ P22α ᾱ Yαᾱ ξ(t)
Applying Lemma 4, (35) holds if ∃Xᾱ ∈ R4n×n such that:
−xT (t)P12ᾱ x(t)+xT (t−τ (t))P12ᾱ x(t−τ (t))  
−1 −1
τ 2(t)(Sαᾱ +QT 1 T
 
−1
= τ (t)ξ T(t) Γ13αᾱ +YαTᾱ P22α T 0
ᾱ Yαᾱ ξ(t) + ξ (t)Γ3αᾱ ξ(t) ᾱ Uαᾱ Qᾱ )+τ (t) ΓΣαᾱ +Yαᾱ P22αᾱ Yαᾱ
(36)

ηk P11αᾱ −P12ᾱ 0 0 ηk P12ᾱ 0
 +Γ0Σαᾱ +Xᾱ Gαᾱ +GT T
αᾱ Xᾱ < 0
0 P12ᾱ 0 0 0
 which holds, considering (31), if both the following inequali-
with Γ03αᾱ =  −1
 0 0 −ηk P11αᾱ 0 0 
? 0 0 ηk P22αᾱ 0 ties are satisfied:
0  0 0 0 0
P11αᾱ 0 0 P12ᾱ 0 Γ0Σαᾱ +Xᾱ Gαᾱ +GT T
αᾱ Xᾱ < 0 (37)

 0 0 0 0 0 
−H E3T Yαᾱ and Γ13αᾱ = − 0 0 0 0 0 .
−1

−1

? 0 0 P22αᾱ 0 ηk2(Sαᾱ +QT 1 T
ᾱ Uαᾱ Qᾱ )+ηk ΓΣαᾱ +Yαᾱ P22αᾱ Yαᾱ
0 0 0 0 0 (38)
With ζ(t) = E4 ξ(t) and ζ̇(t) = E5 ξ(t), we get for V4 (t): +Γ0Σαᾱ +Xᾱ Gαᾱ +GT T
αᾱ Xᾱ < 0

V̇4 (t) = (ηk −2τ (t))ζ T(t)Mᾱ ζ(t)+2(ηk τ (t)−τ 2 (t))ζ T(t)Mᾱ ζ̇(t) Applying the Schur complement, (38) is equivalent to:
" #
2 T
(t)Γ24ᾱ ξ(t)+τ (t)ξ T(t)Γ14ᾱ ξ(t)+ξ T(t)Γ04ᾱ ξ(t)
2
= τ (t)ξ ηkSαᾱ +ηkΓ1 0 T T
Σαᾱ +ΓΣαᾱ +Xᾱ Gαᾱ +Gαᾱ Xᾱ ? ?
(28) ηk Qᾱ −Uαᾱ 0 <0

ηk Yαᾱ 0 −ηk P22αᾱ
with Γ24ᾱ = −H E4T Mᾱ E5 , Γ04ᾱ = ηk E
4T Mᾱ E4 (39)
and Γ14ᾱ = H ηk E4T Mᾱ E5 −E4T Mᾱ E4 . Let X ∈ Rn×n regular, arbitrary scalars ε` (` ∈ I3 ),
Now, from (24), (25), (27) and (28), (23) holds if: T
Xᾱ = [ X −1 ε1X −1 ε2X −1 ε3X −1 Dᾱ−1 ] , Iε =
T
P(τ ) =τ 2 (t)ξ T(t)Γ24ᾱ ξ(t) [ I ε1I ε2I ε3I I ] , Ḡαᾱ = [ AαX BαKᾱ 0 −X BαDᾱ ].

−1
 Pre- and post-multiplying (37) respectively by
+τ (t)ξ T(t) Γ1Σαᾱ +YαTᾱ P22αᾱ Yαᾱ ξ(t) (29) diag{X, X, X, X, Dᾱ }T and its transpose, we get:
+ξ T(t)Γ0Σαᾱ ξ(t) < 0
Γ̄0Σαᾱ +Iε Ḡαᾱ + ḠT T
αᾱ Iε < 0 (40)
with Γ1Σαᾱ = Γ14ᾱ +Γ13αᾱ +Γ12ᾱ and Γ0Σαᾱ = Γ04ᾱ +Γ03αᾱ +Γ02ᾱ +
Γ01 +Γ00ᾱ . Similarly, pre- and post-multiplying (39) respectively by
Note that P(τ ) = 0 is a convex polynomial of τ (t) if, ∀ξ(t): diag{X, X, X, X, Dᾱ , X, X, X, X}T and its transpose:
" 2
#
T ηkS̄αᾱ +ηkΓ̄1 0 T
Σαᾱ + Γ̄Σαᾱ +Iε Ḡαᾱ + Ḡαᾱ Iε ? ?
ξ (t)Γ24ᾱ ξ(t) >0 ⇔ Γ24ᾱ >0 (30) ηk Q̄ᾱ −Ūαᾱ 0 <0
ηk Ȳαᾱ 0 −ηk P̄22αᾱ
In this case, (29) holds if: (41)
P(0) < 0 and P(ηk ) < 0
where the decision matrices inside Γ̄22αᾱ , Γ̄1Σᾱ , Γ̄14αᾱ and Γ̄0Σαᾱ
(31)
belong to the bijective change of variables Z̄ = X T ZX,
M11ᾱ M12ᾱ M13ᾱ M14ᾱ
" #
? M22ᾱ M23ᾱ M24ᾱ
Z = {L,M11ᾱ ,. . .,M44ᾱ ,N11ᾱ ,. . .,N22ᾱ ,P11αᾱ ,P12ᾱ ,P22αᾱ }.
Let Mᾱ = MᾱT = ? ? M33ᾱ M34ᾱ and rewrite At this stage of the proof, concatenating P11αᾱ > 0, P22αᾱ >
? ? ? M44ᾱ
0, Uαᾱ > 0, Uαᾱ − Mᾱ0 > 0, (40) and (41) into the same
(30) as: h 0 i parametrized inequality Λαᾱ < 0, then applying Lemma 5,
Γ24ᾱ = − Mᾱ
?
Wᾱ
0
>0 (32)
the closed-loop dynamics (6) is locally assymptotically stable

H(M13ᾱ +M34ᾱ ) M23 T
ᾱ −M34ᾱ
T
M33 ᾱ
 if the conditions of Theorem 1 holds. Indeed, because of the
with Mᾱ0 = ? 0 0 , saturated actuators, the assumption made on the derivative of
? 0 # 0
"
H(M14ᾱ )+M11ᾱ +M44ᾱ the MFs in Lemma 5, and the validity domain Dx of the T-S
and Wᾱ = M24ᾱ −M44ᾱ +M12 T T
ᾱ −M14ᾱ . model (4), the global asymptotic stabilization of the nonlinear
T
M34ᾱ +M13 ᾱ model (1) is not guaranteed. Nevertheless, an estimation of the
For any regular matrix Uαᾱ ∈ R3n×3n , consider the null terms domain of attraction Da of the designed closed-loop system
WᾱTUα−1 T −1 0 0
ᾱWᾱ−Wᾱ UαᾱWᾱ = 0 andMᾱ−Mᾱ = 0, from the Schur can be obtained as follows.
complement we have: First, let us focus on the restriction bring by the satu-

0
Uαᾱ − Mᾱ 0
+ Mᾱ Wᾱ
 rated actuators. Recall that the LKF (16) is continuous and
T
Wᾱ T −1
Wᾱ Uαᾱ Wᾱ
=0 (33) monotonously decreasing if the previous inequalities holds.
h 0
i Therefore, for every x(tk ) reaching Da the systems will be
Denoting Sαᾱ = Uαᾱ 0− Mᾱ 00 and Qᾱ = [ 0 Wᾱ ], the stable and, without loss of generality, the LKF taken at tk
equation (33) provides that (32) can be rewritten as: allows to define the following level sets:
−1
Γ24ᾱ = Sαᾱ +QT
ᾱ Uαᾱ Qᾱ > 0 (34) L(1) = {x(t−τ (t)) ∈ Rn ; x(t−τ (t))T Lx(t−τ (t)) ≤ 1} (42)
Moreover, from the application of lemma 1, we must provide and the MFs:
that x(t−τ (t)) is such that (Kᾱ X −1 −Fᾱ )x(t−τ (t)) belongs
 (
1− 2 π

α1 (x1 (t)) = π x1 (t), if 0 ≤ x1 (t) < 2 ,
to S((Kᾱ X −1 −Fᾱ )x(t−τ (t)),ū) (see eq. (7)). This holds if 1+ 2 π
π x1 (t), if − 2 < x1 (t) < 0, (49)
2 (x1 (t)) = 1 − α1 (x1 (t))
α
both the following conditions holds:
where x1 (t) is the angle (rad) of the pendulum from the
If x(t−τ (t))TLx(t−τ (t)) ≤ 1, then x(t) ∈ L(1) (43)
erect position and x2 (t) is the angular velocity (rad/s), g =
and, with Zᾱᾱ = (Kᾱ X −1 −Fᾱ )T(`) (Kᾱ X −1 −Fᾱ )(`) /ū2(`) : 9.8m/s2 is the acceleration of the gravity, m = 2kg is the
mass of the pendulum, M = 8kg is the mass of the cart,
If x(t−τ (t))TZᾱᾱ(`) x(t−τ (t)) ≤ 1, l = 0.5m is the half length of the pendulum, a = 1/(m + M )
(44)
then (Kᾱ X −1 −Fᾱ )x(t−τ (t)) ∈ S(·) and the input u(t) is the actuator force (N ) applied to the cart.
Note that, from (49), it comes |α̇1 | = |α̇2 | = π2 |ẋ1 | and, since
Then L(1) ⊂ S(Kᾱ X −1 −Fᾱ ,ū) if:
|ẋ1 | = |x2 | ≤ π, we have |α̇i | ≤ 2 = φi , which define Dφ .
1 ≥ x(t−τ (t))TLx(t−τ (t)) ≥ x(t−τ (t))TZᾱᾱ(`) x(t−τ (t)) (45) Computing the conditions of Theorem 1, using YALMIP
and SeDuMi in MATLAB [27], provides the following
which is granted from the Schur complement if:
  sampled-data PDC controller gains with the maximal sampling
L
−1
?
≥0 (46) period η̄ = 60ms (with ε1 = 6.4, ε2 = 3, ε3 = 0.4):
(Kᾱ X −Fᾱ )(`) ū2
(`)  
K1 = 0.7002 −0.3765
h i
0.0125 −0.0363
T
  X= −0.0359 0.1398
That is to say, pre and post-multiplying (46) by diag{X, 1} K2 = 1.7219 19.1222

and its transpose, respectively, we get:

L̄ ?
 obtained with Theorem 1 outperforms previous related results
(Kᾱ − F̄ᾱ )(`) ū2
(`)
Now, let us consider the assumption |α̇i (t)| ≤ φi required by
the application of Lemma 5. It leads to define the compact set
Dφ given in (15). Note that, if (47) holds, the border of Du =
L(1) is characterized by the ellipsoid xT Lx = 1, inside which
the sector condition is verified. Consequently, the domain of
attraction Da must verify Da ⊆ Du ∩ Dx ∩ Dφ . Furthermore,
let us define the Lyapunov sublevel set given by:
L(c) = {x(t−τ (t)) ∈ Rn ; x(t−τ (t))T Lx(t−τ (t)) ≤ c} (48)
where c is a positive scalar, necessarily lower or equal than 1
to satisfy x(0) ∈ Du = L(1). Hence, (14) gives an estimate
Da∗ of the domain of attraction Da , by finding the largest
equipotential V (x(t)) = c̄ ≤ 1 in Du ∩ Dx ∩ Dφ .
Remark 1: The conditions of Theorem 1 are not strictly
LMI because of the parameter ε1 , ε2 and ε3 . However, as
state in many previous works using the Finsler’s lemma (e.g.
[23]–[26]), these can be usually tuned offline by grid search.
Also, if computational cost constitute today a drawback of
such conditions, we assume that it can be alleviated with the
growing advances of computational capabilities.
IV. I LLUSTRATIVE EXAMPLE
To illustrate the effectiveness of the proposed sampled-data
controller design methodology with saturated actuators, let us
consider the benchmark of the inverted pendulum on a cart,
used in many previous related T-S model-based sampled-data
control studies (see the references in Table I). A T-S fuzzy
model (4) with r = 2 is proposed in [14] for the inverted
pendulum. For the sake of our study, the actuator saturation is
assumed as u(t) ≤ ū = 50N . This model, valid in Dx defined
by |x1 (t)| < π/2 and |x2 (t)| ≤ π, is given by the polytopes:
   
0 1
A1 = g , A2 =
0 0
4l/3−aml π(4l/3−amlβ 2 )
   
0 0
B1 = −a , B2 = −aβ
4l/3−aml 4l/3−amlβ 2
As shown in Table I, the maximal allowable upper bound η̄
≥0 (47) (even if they do not consider input saturation) by at least
17.17%. This confirms the conservatism improvements raised
by our proposal.
TABLE I
C OMPARISON OF MAXIMAL η̄ OBTAINED WITH PREVIOUS STUDIES .
Method: [4] [5] [6] [7] [10] [8] [9] [11] Th. 1
η̄ (ms): 9 13 16 19 22 24 42 51 60
It can be fairly said that the conservatism improvement
comes from the fact that Theorem 1 provides local results,
but let us point-out that this is also the case for the previous
considered studies, even if they didn’t address this point.
Indeed, they consider the same T-S models-based sampled-
data control plants, which are only valid on a compact subsets
of the state space and subject to MFs mismatches. However,
to the best of the authors’ knowledge, there is no previous
studies dealing with the estimation of the domain of attraction
for sampled-data stabilization of T-S models. This being said,
solving Theorem 1 provides such an estimate (Da∗ ) depicted
as a dash-dot black line in Fig. 1. Also, an unstable trajectory
of the closed-loop systems, starting outside Da∗ with x(0) =
T
[π/3 0] , is plotted as a black line. Finally, a stable trajectory
of the closed-loop inverted pendulum, starting from the border
T
of Da∗ with x(0) = [0.58 −1.48] , is plotted as a blue line.
The latter is also also timely plotted in Fig. 2, together with
the sampled-data control signals with and without saturation,
the saturated ones being applied to the system.
Remark 2: From the conditions proposed in [17], which is
the unique previous study found aiming at proposing sampled-
data controller design for T-S systems under saturating ac-
tuators, we surprisingly obtained a maximal η̄ = 164ms.
Unfortunately, when performing the simulation with the gains
0 1
2g , obtained from [17], we observed an unstable closed-loop
behaviour with a strongly saturating input. Hence, failing to
reproduce the claimed results in [17], we assume irrelevant a
, β = cos(88◦ ),
fair comparison with it.

∗.
Fig. 1. Estimation of the domain of attraction Da
Fig. 2. Closed-loop state responses and sampled-data control signals.
V. C ONCLUSIONS
In this paper, the sampled-data control of T-S models with
saturated actuator has been addressed. Based on the general-
ized sector condition, the closed-loop sampled data dynamics
has been written as a T-S model with time-varying delayed
saturated inputs. New local LMI-based design conditions have
been proposed thanks to the choice of a LKF, the applica-
tion of Finsler’s lemma, some extended Jensen’s inequalities
and a recently proposed relaxation lemma for double fuzzy
summation structures with mismatching MFs. Moreover, the
proposed approach allows to estimate the closed-loop domain
of attraction. The effectiveness of our proposal has been shown
in simulation through the inverted pendulum benchmark and
successfully compared to previous studies. Our future works
will focus on extensions to sampled-data tracking controllers
design and to networked control systems with packet loss.
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