JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.

1 (1-18)
Available online at www.sciencedirect.com

1
ScienceDirect 1
2 2
3 3
Fuzzy Sets and Systems ••• (••••) •••–•••
4 www.elsevier.com/locate/fss 4
5 5
6 6
7 7
8 Finite-time resilient reliable sampled-data control for fuzzy systems 8
9 9
10 with randomly occurring uncertainties 10
11 11
12 a,∗ b c b 12
R. Sakthivel , T. Saravanakumar , Yong-Ki Ma , S. Marshal Anthoni
13 13
14 a Department of Mathematics, Sungkyunkwan University, Suwon 440-746, Republic of Korea 14
15 b Department of Mathematics, Anna University Regional campus, Coimbatore, 641046, India 15
c Department of Applied Mathematics, Kongju National University, Chungcheongnam-do 314-701, Republic of Korea
16 16
17 Received 18 October 2016; received in revised form 8 February 2017; accepted 21 February 2017 17
18 18
19 19
20 20
21 21
Abstract
22 22
23 This paper deals with the problem of finite-time passivity-based H∞ resilient reliable state feedback sampled-data control for 23
24 Takagi–Sugeno fuzzy systems with randomly occurring uncertainties and gain variations, where the randomly occurring charac- 24
25
teristics are designed by stochastic variables satisfying the Bernoulli distribution. The main objective of this paper is to design a 25
resilient reliable sampled-data controller such that the resulting closed-loop system is finite-time bounded and satisfies finite-time
26 26
mixed H∞ and passive performance index γ . Based on the constructed Lyapunov–Krasovskii functional and Wirtinger integral
27 27
inequality, some delay-dependent sufficient conditions are derived for achieving the required result of the considered systems.
28 28
Moreover the derived finite-time stability conditions are established in the form of linear matrix inequalities (LMIs) which can
29 29
be solved by Matlab LMI toolbox. Finally two numerical examples are presented to demonstrate the applicability of the proposed
30 control design technique. 30
31 © 2017 Elsevier B.V. All rights reserved. 31
32 32
33 33
Keywords: Takagi–Sugeno fuzzy system; Resilient reliable control; Randomly occurring uncertainties; Finite-time stability and boundedness
34 34
35 35
36 36
37 1. Introduction 37
38 38
39 Takagi–Sugeno (TS) fuzzy model is first proposed in [37] and subsequently much efforts have been put in the 39
40 stability analysis and control synthesis for TS fuzzy systems over the past few decades. In particular, it combines 40
41 the fuzzy logic and linear system theories in a unified framework for describing complex nonlinear systems. More 41
42 precisely, with the rapid development of LMI approach and Lyapunov stability theory, various kinds of control syn- 42
43 43
thesis have been reported for TS fuzzy systems [3,16,53]. By employing the delay-partitioning approach, the robust
44 44
stability criterion for uncertain TS fuzzy systems with interval time-varying delay has been reported in [45] where a
45 45
novel Lyapunov–Krasovskii functional (LKF) together with tighter bounding inequalities is implemented to obtain the
46 46
47 47
48 * Corresponding author. 48
49 E-mail address: krsakthivel@yahoo.com (R. Sakthivel). 49
50 50
http://dx.doi.org/10.1016/j.fss.2017.02.007
51 51
0165-0114/© 2017 Elsevier B.V. All rights reserved.
52 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.2 (1-18)
2 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••

1 required result. The problem of observer-based controller design for a class of nonlinear networked control systems 1
2 described by the interval type-2 TS fuzzy model subject to data loss and parameter uncertainties has been investigated 2
3 in [19]. Li et al. [18] obtained an adaptive sliding mode controller for interval type-2 TS fuzzy systems with parametric 3
4 uncertainties. In [38], the robust H∞ stabilization problem for a class of uncertain TS fuzzy neutral systems has been 4
5 solved, where a novel asymptotic stabilization condition for uncertain TS fuzzy neutral systems is proposed in terms 5
6 of LMIs. 6
7 On the other hand, reliable control has become an important research topic in recent years, since there may be 7
8 unexpected failures which affect the performance in control systems. As a result, various reliable control approaches 8
9 have been proposed to solve uncertain TS fuzzy systems, switched systems and offshore structures [6,25,49]. In 9
10 [12], the reliable guaranteed-cost control problem for a class of delta operator switched linear systems has been 10
11 studied, where a reliable controller is designed in terms of LMIs to stabilize the considered switched systems with 11
12 actuator faults. The problem of fault-tolerant saturated control for TS fuzzy discrete-time systems with delays has been 12
13 examined in [2], where a set of sufficient conditions for observer-based control design with saturation constraints is 13
14 derived based on a multiple Lyapunov function. Moreover, by choosing a proper novel Lyapunov functional together 14
15 with LMI approach, some delay-dependent conditions have been obtained in [32] to guarantee the asymptotic stability 15
16 of TS fuzzy system with a prescribed H∞ performance index. Du et al. [7] obtained a new set of sufficient conditions 16
17 for the existence of the robust reliable H∞ controller for uncertain neural networks with time-varying delays, faulty 17
18 actuators and parametric uncertainties. 18
19 Besides, in practical systems, uncertainties are usually inevitable in controller implementation. Due to this fact, 19
20 the closed-loop system could be unstable. Therefore it is important to design a controller which should tolerate the 20
21 uncertainties in its parameters. To overcome this difficulty, resilient (or non-fragile) controller has been proposed for 21
22 various kinds of control systems (see [9,14] and references therein). The non-fragile state estimation problem for a 22
23 class of uncertain discrete-time neural networks with time delay has been studied in [48], where some sufficient con- 23
24 ditions are obtained to ensure the asymptotic stability of the estimation error system. Very recently, Yu and Hao [47] 24
25 proposed a new type of event conditions for event-triggered control systems by using non-fragile control approach. 25
26 Furthermore the controller gain may vary subject to random changes because of environmental circumstances in the 26
27 process of controller implementation in the feedback loop. In this case, the gain variations may be considered in a 27
28 probabilistic way with certain types and intensity. It is therefore worth to consider randomly occurring gain variations 28
29 in controller design [8,15,21]. The non-fragile distributed H∞ filtering problem for a class of discrete-time TS fuzzy 29
30 systems with multiplicative gain variations has been discussed in [51]. Moreover, due to the rapid growth of the digital 30
31 circuit technologies, digital controller is generally used for some complex dynamical systems [26,36,40]. In particular, 31
32 a discrete-time control input signal is produced by a digital computer and then it is further converted as a continuous- 32
33 time control input signal using a zero-order holder, where the overall system becomes a sampled-data control system 33
34 [10]. Subsequently the investigation of the sampled-data control nonlinear systems which can be described by TS 34
35 fuzzy models has greatly increased in the literature, for instance, see [17,24,30]. 35
36 On the other hand, passivity is one of the most powerful tools which relates the inputs and outputs to the storage 36
37 function and also it can keep the system internal stability. Passivity investigation for various dynamical systems such 37
38 as stochastic systems, chaotic systems and switched systems has been reported in [22,31]. A new set of sufficient con- 38
39 ditions in terms of LMIs for passivity analysis of Markovian jump systems with discrete and distributed time-varying 39
40 delays has been obtained via output feedback control in [13]. The developments of the passivity-based H∞ controller 40
41 design for a class of networked cascade control systems with random packet dropouts have been reported in [27]. 41
42 Recently passivity-based resilient adaptive control problem for a class of Ito-type TS fuzzy stochastic systems with 42
43 time-varying delay and Markovian switching has been investigated in [41]. It should be pointed out that the combina- 43
44 tion of H∞ and passivity-based control is significant and more useful in practical implementation (see [29,34,50] and 44
45 references therein). 45
46 It should be mentioned that most of the existing works report the asymptotic convergence of the TS fuzzy system, 46
47 which means that the states of the system converge asymptotically to zero in an infinite time interval. However, in 47
48 practical point of view, the dynamical behavior of a system is more concerned with a fixed finite-time interval in which 48
49 the system does not exceed a certain point in finite-time interval with a given bound of the initial condition, which is 49
50 called as finite-time stability [52]. Up to now, many results of dynamical systems related to finite-time boundedness, 50
51 finite-time stability and finite-time stabilization have been reported in [5,33,39,44]. In [4], the problem of robust 51
52 finite-time sampled-data control for linear systems subject to random occurring delays has been investigated in which, 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.3 (1-18)
R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–••• 3

1 by constructing a newly augmented LKF with Jensen’s inequality, free-weighting matrix method and Wirtinger-based 1
2 double integral inequality approach, some less conservative delay dependent conditions are obtained. Song et al. 2
3 [35] obtained a finite-time stochastic bounded controller for discrete-time stochastic system with communication 3
4 constraint. A new set of sufficient conditions has been derived in [54] which ensures that the filtering error system of 4
5 TS fuzzy discrete-time system with norm-bounded uncertainties and time-varying delay is finite-time bounded with 5
6 an H∞ performance index. The finite-time dissipative control for singular TS fuzzy Markovian jump systems under 6
7 actuator saturation with partly unknown transition rates has been established in [11]. 7
8 8
However, up to now, the design of finite-time passivity-based H∞ resilient reliable sampled-data controller for TS
9 9
fuzzy system subject to actuator fault with time-varying delay, randomly occurring uncertainties and randomly occur-
10 10
ring gain variation has not yet been studied. Motivated by this consideration, in this paper, a new set of finite-time
11 11
passivity conditions for TS fuzzy system subject to actuator fault, randomly occurring uncertainties and gain fluctua-
12 12
tion is obtained via passivity-based H∞ resilient reliable sampled-data controller. The main contributions of this work
13 13
are highlighted as follows:
14 14
15 15
(i) Mixed H∞ and passivity-based resilient reliable sampled-data controller for TS fuzzy systems with randomly
16 16
occurring uncertainties and controller gain variations is designed in a finite-time interval.
17 17
(ii) This is the first attempt to investigate the reliable sampled-data feedback controller design together with gain
18 18
variation parameters for the continuous-time TS fuzzy systems.
19 19
(iii) A more generalized resilient reliable sampled-data controller is designed for the solvability of TS fuzzy system
20 20
with time-varying delay, randomly occurring uncertainties and controller gain fluctuations.
21 21
(iv) By the implementation of Lyapunov stability theory together with Wirtinger integral inequality, a new set of
22 22
sufficient conditions is derived in terms of LMIs to guarantee that the proposed TS fuzzy system is finite-time
23 23
24
bounded with a prescribed mixed H∞ and passivity performance index. 24
25 25
26
2. Problem formulation and preliminaries 26
27 27
28 In this paper, we consider a nonlinear system which can be represented by the following TS fuzzy model: 28
29 Plant rule i: IF θ1 (t) is Mi1 and θ2 (t) is Mi2 and . . . and θg (t) is Mig , THEN 29
30 30

31
ẋ(t) = (Ai + α(t)Ai (t))x(t) + Ahi x(t − h(t)) + Bi uF (t) + Bwi w(t), 31
(1)
32
z(t) = Ci x(t) + Di uF (t) + Ewi w(t), 32
33 33
34 34
where i = 1, 2, . . . , r, r denotes the number of IF-THEN rules; x(t) ∈ Rn is the state vector; uF (t) ∈ Rm is the control
35 35
input; z(t) ∈ Rl is the output; w(t) ∈ Rv is the external disturbance which belongs to L2 [0, ∞); θb (t) (b = 1, 2, . . . , g)
36 36
are the premise variables; Mib (i = 1, 2, . . . , r, b = 1, 2, . . . , g) are the fuzzy sets; Ai , Ahi , Bi , Ci , Di , Bwi and Ewi are
37 37
known constant matrices with appropriate dimensions. Further, h(t) denotes the time-varying function and satisfies
38 38
0 ≤ h(t) ≤ hM and 0 ≤ ḣ(t) ≤ h, where hM and h are known scalars. Further, Ai (t) is the time-varying matrix
39 39
which is assumed to satisfy the following admissible condition Ai (t) = Hi Fi (t)Ei , where Hi and Ei are known real
40 40
constant matrices and Fi (t) is an unknown continuous time-varying matrix function satisfying FiT (t)Fi (t) ≤ I . The
41 41
42
stochastic variable α(t) ∈ R characterizes the phenomena of randomly occurring uncertainties, which is assumed to 42
43
obey the Bernoulli distribution as P r{α(t) = 1} = ᾱ, P r{α(t) = 0} = 1 − ᾱ, where ᾱ ∈ [0, 1] is a known constant. 43
In this paper, the following assumption is taken to derive the required result:
44 T 44
45 (A1) The external disturbance w(t) is time-varying and satisfies 0 f w T (t)w(t)dt ≤ δ where δ ≥ 0 and [0, Tf ] is 45
46 a fixed finite-time interval. 46
47 Now, by incorporating fuzzy blending, the above formulated TS fuzzy model (1) can be rewritten as 47
48 48
⎧
49
⎪ 
r 49
⎪
⎨ ẋ(t) = hi (θ (t))[(Ai + α(t)Ai (t))x(t) + Ahi x(t − h(t)) + Bi uF (t) + Bwi w(t)],
50 50
i=1 (2)
51
⎪ r 51
⎪
⎩ z(t) = hi (θ (t))[Ci x(t) + Di uF (t) + Ewi (t)],
52 52
i=1
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.4 (1-18)
4 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••


r
1
where hi (θ (t)) is the normalized membership function defined by hi (θ (t)) = μi (θ (t))/ μi (θ (t)) with μi (θ (t)) = 1
2 i=1 2
g
3 3
Mib (θb (t)) and Mib (θb (t)) is the degree of membership of θb (t) in Mib . Further, it is assumed that μi (θ (t)) ≥ 0
4 4
b=1
5 
r 
r 5
6
and μi (θ (t)) = 1 for all t > 0. Hence, hi (θ (t)) satisfy hi (θ (t)) ≥ 0 and hi (θ (t)) = 1 for all t > 0. In most of 6
i=1 i=1
7 the control system, the uncertain parameters in control term are ignored, which are usually significant in practice. By 7
8 taking this into account, the uncertain parameters are considered in the control implementation and the global state of 8
9 fuzzy controller is given as follows: 9
10 Control rule i: IF θ1 (t) is Mi1 and θ2 (t) is Mi2 and . . . and θg (t) is Mig , THEN 10
11 11
12
u(t) = (Ki + β(t)Ki (t))x(t), (3) 12
13 where Ki (i = 1, 2, . . . , r) denote the control gains to be estimated and Ki (t) are perturbed matrices. In this pa- 13
14 per, we assume that the perturbed matrices satisfy Ki (t) = Mi Fi (t)Ni , where Mi and Ni are known real constant 14
15 matrices and Fi are unknown matrices satisfying FiT (t)Fi (t) ≤ I . The stochastic variable β(t) ∈ R describes the phe- 15
16 nomena of randomly occurring gain fluctuations, which is Bernoulli distributed white noise sequence taking values 16
17 on either zero or one with P r{β(t) = 1} = β̄ and P r{β(t) = 0} = 1 − β̄, where β̄ ∈ [0, 1] is a known constant. More- 17
18 over, it is assumed that α(t) and β(t) are unrelated. Nowadays, most of the practical systems are controlled by digital 18
19 controllers and we consider the sampled-data controller in the following form: 19
20 20
21 u(t) = u(tk ) = (Ki + β(t)Ki (t))x(tk ), (4) 21
22
where tk is the upper limit of kth sample. Further, by defining τ (t) = t − tk and tk ≤ τ̄ for all k, Eq. (4) can be written 22
23 23
as
24 24
25 u(t) = u(tk ) = (Ki + β(t)Ki (t))x(t − τ (t)). (5) 25
26
Moreover, it is assumed that 0 ≤ τ (t) ≤ τ̄ with τ̇ (t) = 1 for t = tk . Also, we choose the reliable control input in the 26
27 27
following form:
28 28
29 uF (t) = Gu(t), (6) 29
30 30
where G is the actuator fault matrix with G = diag[g1 , g2 , . . . , gm ], 0 ≤ g l ≤ gl ≤ g l , g l ≥ 1 (l = 1, 2, . . . , m), g l and
31 31
g l are some given constants. It is noted that when gl = 0, the lth actuator completely fails, gl = 1 means that lth actu-
32 32
ator is normal. If 0 < gl < 1, the lth actuator has partial failure. Defining fault matrices G0 = diag[g10 , g20 , . . . , gm0 ],
33 g l +g g l −g 33
34 G1 = diag[g11 , g21 , . . . , gm1 ], where gl0 = 2 l and gl1 = 2 l . Hence, the matrix G can be written as G = 34
35 G0 + G1 J , where J = diag[j1 , j2 , . . . , jm ], −1 ≤ jl ≤ 1. 35
36 Then, the defuzzified output of the fuzzy resilient reliable sampled-data controller is expressed in the following 36
37 form: 37
38
r 38
39 uF (t) = hj (θ (t))G(Kj + β(t)Kj (t))x(t − τ (t)). (7) 39
40 j =1 40
41 Combining (7) with (2), we obtain the following closed-loop uncertain TS fuzzy system: 41
42
⎧ r  r
42
43 ⎪
⎪ ẋ(t) = hi (θ (t))hj (θ (t))[(Ai + α(t)Ai (t))x(t) + Ahi x(t − h(t)) 43
⎪
⎪
44 ⎨ i=1 j =1 44
45 + Bi G(Kj + β(t)Kj (t))x(t − τ (t)) + Bwi w(t)], (8) 45
⎪
⎪ r  r
46 ⎪
⎪ 46
⎩ z(t) = hi (θ (t))hj (θ (t))[Ci x(t) + Di G(Kj + β(t)Kj (t))x(t − τ (t)) + Ewi w(t)].
47 i=1 j =1 47
48 48
49 Remark 2.1. It is noted that in the system model (8), there are five factors that complicate the design of resilient 49
50 reliable controller, which are randomly occurring uncertainties, randomly occurring gain variations, actuator failure, 50
51 input delay and time-varying delay parameters. In particular, the random variable α(t) is introduced to characterize 51
52 the phenomenon of the randomly occurring uncertainties and it is more suitable for reflecting parameter variations of 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.5 (1-18)
R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–••• 5

1 a random nature, particularly in the network environment. In addition, for networked systems, the actual values of the 1
2 component parameters in control devices may experience random abrupt changes because of random fluctuations of 2
3 the network loads with impact on the controller parameter implementation. To overcome these facts, we introduce the 3
4 random variable β(t) in the controller equation (7), which reflects the resilient reliable sampled-data controller. 4
5 5
6 Before completing this section, we introduce the following definitions and lemmas which are needed for the proof 6
7 of our main results. 7
8 8
9 Definition 2.2. [42] For a given time constant Tf and the external disturbance w(t) satisfying Assumption (A1), the 9
10 closed-loop system (8) is said to be finite-time bounded with respect to (c1 , c2 , Tf , δ, L) if 10
11 11
12 sup E x T (t0 )Lx(t0 ), ẋ T (t0 )Lẋ(t0 ) ≤ c1 ⇒ E x T (t)Lx(t) < c2 , t ∈ [0, Tf ], (9) 12
−hM ≤t0 ≤0
13 13
14 where c2 > c1 > 0 and L is a positive definite matrix. 14
15 15
16 Definition 2.3. Closed-loop system (8) is finite-time mixed H∞ and passive with respect to (c1 , c2 , Tf , δ, L), where 16
17 c2 > c1 > 0, L is a positive definite matrix and γ > 0 is a prescribed scalar, if the closed-loop system (8) is finite-time 17
18 bounded with respect to (c1 , c2 , Tf , δ, L) and under the zero initial condition, the output z(t) satisfies 18
19 19
Tf Tf
20 20
21 E [−γ −1 θ zT (t)z(t) + 2(1 − θ )zT (t)w(t)] dt ≥ −γ w T (t)w(t)dt, 21
22 0 0 22
23 23
where θ ∈ [0, 1] is the weighting parameter that defines the trade-off between H∞ and passivity performances.
24 24
25 25
Lemma 2.4. [32] For given positive definite matrix Z ∈ Rn×n , scalars b > a and a vector-valued function ω : [a, b] →
26 26
Rn , the following integral inequality holds:
27 27
b
⎛ b ⎞T ⎛ b
⎞
28 28
29 (b − a) ωT (s)Zω(s)ds ≥ ⎝ ω(s)ds ⎠ Z ⎝ ω(s)ds ⎠ . 29
30 30
a a a
31 31
32 Lemma 2.5. [28] For any constant matrix M > 0 and continuously differential function ϕ in [a, b] → Rn , the follow- 32
33 ing inequality holds: 33
34
b
⎛ b ⎞T ⎛ b ⎞ 34
35 35
36 (b − a) ϕ T (s)Mϕ(s)ds ≥ ⎝ ϕ(s)ds ⎠ M ⎝ ϕ(s)ds ⎠ + 3 T
M , 36
37 a a a 37
38 b bb 38
39 where = a ϕ(s)ds − 2
b−a a s ϕ(u)duds. 39
40 40
41 3. Main results 41
42 42
43 3.1. Finite-time boundedness analysis 43
44 44
45 In this subsection, the finite-time boundedness for the TS fuzzy system (8) without randomly occurring uncertain- 45
46 ties (α(t)Ai (t) = 0) and without randomly occurring gain variations (β(t)Kj (t) = 0) will be established. For this 46
47 purpose, we consider the nominal system of (8) with α(t)Ai (t) = 0 and β(t)Kj (t) = 0 in the following form: 47
48 ⎧ r  r 48
⎪ hi (θ (t))hj (θ (t))[Ai x(t) + Ahi x(t − h(t)) + Bi GKj x(t − τ (t)) + Bwi w(t)],
49 ⎨ ẋ(t) =
⎪ 49
i=1 j =1
50
r  r (10) 50
⎪
⎪
51 ⎩ z(t) = hi (θ (t))hj (θ (t))[Ci x(t) + Di GKj x(t − τ (t)) + Ewi w(t)]. 51
52 i=1 j =1 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.6 (1-18)
6 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••

1 Theorem 3.1. Let Assumption (A1) be true. For given positive scalars ν, τ̄ , h, hM , c1 , Tf , δ ≥ 0, symmetric matrix L 1
2 and the gain matrix Kj , the nominal TS fuzzy system (10) is finite-time bounded with respect to (c1 , c2 , Tf , δ, L), if 2
3 there exist positive definite matrices P1 , Qa (a = 1, 2, 3, 4), and Rb (b = 1, 2, 3) and scalar c2 such that the following 3
4 matrix inequalities hold for 1 ≤ i ≤ j ≤ r: 4
5 5
6
[ ii ] < 0, i = j, 6
7 [ ij ] + [ j i ] < 0, i < j, (11) 7
8 8
−νTf −νTf
9 w1 c1 + δ(1 − e ) < λ1 c 2 e , (12) 9
10 10
11 where 1,1 = P1 Ai + ATi P1 + Q1 + Q2 + Q3 + Q4 − R2 − R3 − νP1 + τ̄ 2 R1 , 1,2 = P1 Ahi + R2 , 1,4 = 11
12 P1 Bi GKj + R3 , 1,8 = P Bwi , 1,9 = hM ATi R2 , 1,10 = τ̄ ATi R3 , 2,2 = −(1 − h)Q1 − sym(R2 ), 2,3 = R2 , 12

2,9 = hM Ahi R2 , 2,10 = τ̄ Ahi R3 , 3,3 = −R2 − Q3 , 4,4 = −sym(R3 ), 4,5 = R3 , 4,9 = hM Kj G Bi R2 ,
13
T T T T T 13

4,10 = τ̄ Kj G Bi R3 , 5,5 = −Q4 − R3 , 6,6 = −4R1 , 6,7 = τ̄ R1 , 7,7 = − τ̄ 2 R1 , 8,8 = −ν, 8,9 =
14 T T T 6 12 14
15 15
T R ,
hM Bwi 2 8,10 = τ̄ Bwi
T R ,
3 9,9 = −R2 , 10,10 = −R3 , λ1 = λmin (P̃1 ), λ2 = λmax (P̃1 ), λ3 = λmax(Q̃1 ), λ4 =
16 16
17 λmax (Q̃2 ), λ5 = λmax (Q̃3 ), λ6 = λmax (Q̃4 ), λ7 = λmax (R̃1 ), λ8 = λmax (R̃2 ), λ9 = λmax (R̃3 ) and w1 = λ2 + hλ3 + 17

18 3 h3 3 18
τ̄ λ4 + hM λ5 + τ̄ λ6 + τ̄2 λ7 + 2M λ8 + τ̄2 λ9 .
19 19
20 20
21 Proof. To obtain the required result, we first introduce the following Lyapunov–Krasovskii functional for the system 21
22 (10) as 22
23 3 23
24 V (t, x(t)) = Vk (t, x(t)), (13) 24
25 25
k=1
26 26
where
27 27
28 V1 (t, x(t)) = x T (t)P1 x(t), 28
29 t t t t 29
30 30
V2 (t, x(t)) = x (s)Q1 x(s)ds +
T
x (s)Q2 x(s)ds +
T
x (s)Q3 x(s)ds +
T T
x (s)Q4 x(s)ds,
31 31
32 t−h(t) t−τ (t) t−hM t−τ̄ 32
33 t t t t t t 33
34 V3 (t, x(t)) = τ̄ x T (s)R1 x(s)dsdu + hM ẋ T (s)R2 ẋ(s)dsdu + τ̄ ẋ T (s)R3 ẋ(s)dsdu. 34
35 35
t−τ̄ u t−hM u t−τ̄ u
36 36
37 Define the weak infinitesimal operator L of the Lyapunov functional (13) along the TS fuzzy system (10) as 37
38 1 38
39
LV (t, x(t)) = lim [E{V (t, x(t + t))|x(t)} − V (t, x(t))]. 39
→0 
40 40
Then, we have
41 41
42 E{LV1 (t, x(t))} = E{x T (t)2P1 ẋ(t)}, (14) 42
43 43
E{LV2 (t, x(t))} ≤ E{x (t)(Q1 + Q2 + Q3 + Q4 )x(t) − (1 − h)x (t − h(t))Q1 x(t − h(t))
T T
44 44
45 − x T (t − hM )Q3 x(t − hM ) − x T (t − τ̄ )Q4 x(t − τ̄ )}, (15) 45
46
 t 46
47 E{LV3 (t, x(t))} = E τ̄ 2 x T (t)R1 x(t) + ẋ T (t)h2M R2 ẋ(t) + ẋ T (t)τ̄ 2 R3 ẋ(t) − τ̄ x T (u)R1 x(u)du 47
48 48
t−τ̄
49
t t  49
50 50
51
− hM ẋ (u)R2 ẋ(u)du − τ̄
T T
ẋ (u)R3 ẋ(u)du . (16) 51
52 t−hM t−τ̄ 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.7 (1-18)
R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–••• 7

1 Now, by using Lemma 2.4, the integral terms involving R2 and R3 in (16) can be written as 1
2 2
t t t−h(t)
3 3
4 −hM ẋ T (u)R2 ẋ(u)du ≤ −hM ẋ T (u)R2 ẋ(u)du − hM ẋ T (s)R2 ẋ(u)du 4
5 t−hM t−h(t) t−hM 5
6 6
≤ −x (t)R2 x(t) + x (t)R2 x(t − h(t)) − 2x (t − h(t))R2 x(t − h(t))
T T T
7 7
8 + x T (t − h(t))R2 x(t − hM ) − x T (t − hM )R2 x(t − hM ), (17) 8
9 t t t−τ (t) 9
10 10
−τ̄ ẋ (u)R3 ẋ(u)du ≤ −τ̄
T
ẋ (u)R3 ẋ(u)du − τ̄
T T
ẋ (s)R3 ẋ(u)du
11 11
12 t−τ̄ t−τ (t) t−τ̄ 12
13 ≤ −x T (t)R3 x(t) + x T (t)R3 x(t − τ (t)) − 2x T (t − τ (t))R3 x(t − τ (t)) 13
14 14
+ x T (t − τ (t))R3 x(t − τ̄ ) − x T (t − τ̄ )R3 x(t − τ̄ ). (18)
15 15
16 Further, by applying Lemma 2.5 to the rest of integral term in (16), we get 16
17
t
⎡ t ⎤ ⎡ t ⎤T 17
18 18
19 −τ̄ x T (u)R1 x(u)du ≤ −4 ⎣ x(u)du⎦ R1 ⎣ x(u)du⎦ 19
20 t−τ̄ t−τ̄ t−τ̄ 20
21 ⎡ t
⎤ ⎡ t t
⎤T 21
22 6 22
23
+ ⎣ x(u)du⎦ R1 ⎣ x(s)dsdu⎦ 23
τ̄
24 t−τ̄ t−τ̄ u 24
25
⎡ t t
⎤ ⎡ t t
⎤T 25
12
26
− 2⎣ x(s)dsdu⎦ R1 ⎣ x(s)dsdu⎦ . (19) 26
27 τ̄ 27
t−τ̄ u t−τ̄ u
28 28
29 By combining (13)–(19), it is easy to obtain that 29
30 r r   30
31
E LV (t, x(t)) − νV (t, x(t)) − w (t)νw(t) ≤ T
hi (θ (t))hj (θ (t)) ξ T (t) ij ξ(t) , (20) 31
32 32
i=1 j =1
33  t t t  33
34 where ξ T (t) = x T (t) x T (t − h(t)) x T (t − hM ) x T (t − τ (t)) x T (t − τ̄ ) t−τ̄ x T (u)du t−τ̄ s x T (s)dsdu w T (t) 34
35
and the elements of ij (i, j = 1, 2, 3, . . . , r) are defined in the theorem statement. 35
36 36
Motivated by the work in [1], the inequality (20) can equivalently be written in the following form:
37 37
38 E LV (t, x(t)) − νV (t, x(t)) − w T (t)νw(t) 38
39 r r 39
40 = h2i (θ (t))ξ T (t) ii ξ(t) + hi (θ (t))hj (θ (t))ξ T (t)[ ij + j i ]ξ(t). (21) 40
41 i=1 i<j 41
42 42
43
Hence, it follows from (11) that E{LV (t, x(t))} − νE{V (t, x(t))} − w T (t)νw(t) < 0. 43
44
Integrating the aforementioned inequality from 0 to Tf , we can get 44
45 Tf 45
46 −νs 46
E{V (t, x(t))} < e νTf
E{V (0)} + ν e T
w (s)w(s)ds
47 47
48 0 48
49 < eνTf [E{V (0)} + δ(1 − e−νTf )]. (22) 49
50 50
By letting P˜1 = L− 2 P1 L− 2 , Q̃1 = L− 2 Q1 L− 2 , Q̃2 = L− 2 Q2 L− 2 , Q̃3 = L− 2 Q3 L− 2 , Q̃4 = L− 2 Q4 L− 2 , R˜1 =
1 1 1 1 1 1 1 1 1 1
51 51

L− 2 R1 L− 2 and R˜2 = L− 2 R2 L− 2 , it is easy to compute that

1 1 1 1
52 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.8 (1-18)
8 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••

1 1
1 E{V (t, x(t))} ≥ E{x T (t)P1 x(t)} = E{x T (t)L 2 P̃1 L 2 x(t)} 1
2 2
≥ λmin (P̃1 )E{x T (t)Lx(t)}
3 3
4 = λ1 E{x T (t)Lx(t)}. (23) 4
5 5
On the other hand, we have
6 6
7
 0 0 7
8 E{V (0)} = E x T (0)P1 x(0) + x T (s)Q1 x(s)ds + x T (s)Q2 x(s)ds 8
9 9
−h(0) −τ (0)
10 10
0 0 0 0
11 11
12 + x T (s)Q3 x(s)ds + x T (s)Q4 x(s)ds + τ̄ x T (s)R1 x(s)dsdu 12
13 −hM −τ̄ −τ̄ u 13
14 0 0 0 0  14
15 15
+ hM ẋ (v)R2 ẋ(s)dsdu + τ̄
T T
ẋ (v)R3 ẋ(s)dsdu
16 16
−hM u −τ̄ u
17
  17
18 18
= λmax (P̃ )E{x T (0)Lx(0)} + hM λmax (Q̃1 )E sup {x (θ )Lx(θ )}
T
19 19
−h≤θ≤0
20     20
21 + τ̄ λmax (Q̃2 )E sup {x T (θ )Lx(θ )} + hM λmax (Q̃3 )E sup {x T (θ )Lx(θ )} 21
22 −τ̄ ≤θ≤0 −hM ≤θ≤0 22
   
23 τ̄ 3 23
24
+ τ̄ λmax (Q̃4 )E sup {x (θ )Lx(θ )} + λmax (R̃1 )E
T
sup {x (θ )Lx(θ )}
T
24
−τ̄ ≤θ≤0 2 −τ̄ ≤θ≤0
25     25
h3M τ̄ 3
26
+ λmax (R̃2 )E sup {ẋ (θ )Lẋ(θ)} + λmax (R̃3 )E
T
sup {ẋ (θ )Lẋ(θ)}
T 26
27 2 −hM ≤θ≤0 3 −τ̄ ≤θ≤0 27
28   28
τ̄ 3 h3M τ̄ 3
29 ≤ λ2 + hM λ3 + τ̄ λ4 + hM λ5 + τ̄ λ6 + λ7 + λ8 + λ 9 29
30 2 2 2 30
31
  31
32 ×E sup {x T (θ )Lx(θ ), ẋ T (θ )Lẋ(θ)} 32
−hM ≤θ≤0
33 33
34
≤ w 1 c1 . (24) 34
35 From (22)–(24), we can easily compute the following inequality: 35
36 36
E{V (t, x(t))}
37 E{x T (t)Lx(t)} ≤ 37
38 λ1 38
39 e [E{V (0)} + δ(1 − e−νTf )]
νTf 39
<
40 λ1 40
41
e [w1 c1 + δ(1 − e−νTf )]
νTf 41
42 < . (25) 42
λ1
43 43
44 Thus, if the condition (12) holds, then it is obvious that E{x T (t)Lx(t)} < c2 , ∀ t ∈ [0, Tf ]. Therefore, according 44
45 to Definition 2.2, the nominal TS fuzzy system (10) is finite-time bounded with respect to (c1 , c2 , Tf , δ, L). This 45
46 completes the proof. 2 46
47 47
48 3.2. Finite-time combined H∞ and passivity-based resilient reliable control design 48
49 49
50 Based on the finite-time boundedness condition proposed in Theorem 3.1, we provide a set of sufficient conditions 50
51 to guarantee that the closed-loop system (8) without randomly occurring uncertainties is finite-time mixed H∞ and 51
52 passive in the following theorem. 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.9 (1-18)
R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–••• 9

1 Theorem 3.2. Consider the closed-loop system (8) without randomly occurring uncertainties satisfying assumption 1
2 in Theorem 3.1. For given positive scalars ν, τ̄ , h, hM , γ , k1 , k2 , θ , c1 , Tf , β̄, δ ≥ 0 and a symmetric matrix L, 2
3 the fuzzy system (2) without randomly occurring uncertainties is stabilized and finite-time bounded with respect to 3
4 (c1 , c2 , Tf , δ, L) via the controller (7) if there exist positive definite matrices X, Q̄a (a = 1, 2, 3, 4), R̄1 , any ap- 4
5 propriate dimensioned matrices Yj (j = 1, 2, · · · r), and scalars c2 , σ and 1i such that the following LMIs and the 5
6 condition (12) hold for 1 ≤ i ≤ j ≤ r: 6
7 7
8 [ ¯ ii ] < 0, i = j, [ ¯ ij ] + [ ¯ j i ] < 0, i < j, (26) 8
9
 ! 9
10
c1 + σ δ − σ e−νTf (δ + c2 ) (4τ̄ + 4hM + h3M + 2τ̄ 3 )c 1 < 0, (27)
10
11 11
∗ −σ
12 12
13 where ¯ 1,1 = Ai X + XATi + Q̄1 + Q̄2 + Q̄3 + Q̄4 − k1 X − k2 X − νX + τ̄ 2 R1 , ¯ 1,2 = Ahi X + k1 X, ¯ 1,4 = 13
√
14
Bi GYj + k2 X, ¯ 1,8 = Bwi − X(1 − θ )CiT , ¯ 1,9 = hM k1 XATi , ¯ 1,10 = τ̄ k2 XATi , ¯ 1,11 = X θ CiT , ¯ 1,12 = 14
15
β̄Bi G1i Mj , ¯ 2,2 = −(1 − h)Q̄1 − 2k1 X, ¯ 2,3 = k1 X, ¯ 2,9 = hM k1 XAThi , ¯ 2,10 = τ̄ k2 XAThi , ¯ 3,3 = −k1 X − 15

Q̄3 , ¯ 4,4 = −2k2 X, ¯ 4,5 = k2 X, ¯ 4,8 = −(1 − θ )YjT GT DiT , ¯ 4,9 = hM k1 YjT GT BiT , ¯ 4,10 = τ̄ k2 YjT GT BiT ,
16 16
17
√ " # " # 17
18 ¯ 4,11 = θ Y T GT D T , ¯ 4,13 = XN T , ¯ 4,14 = hM GT B T β̄ 1 − β̄ N T M T , ¯ 4,15 = τ̄ GT B T β̄ 1 − β̄ N T M T , 18
j i j i j j i j j
19 √ " # 19
¯ 4,16 = θ GT D T β̄ 1 − β̄ N T M T , ¯ 5,5 = −Q4 − k2 X, ¯ 6,6 = −4R̄1 , ¯ 6,7 = 6 R̄1 , ¯ 7,7 = − 122 R̄1 , ¯ 8,8 =
i j j
20
T ) − γ − γ eνTf , ¯
√ τ̄ T τ̄ 20
−(1 − θ )(Ewi + Ewi 8,9 = hM k1 Bwi , ¯ 8,10 = τ̄ k2 Bwi , ¯ 8,11 = θ Ewi , ¯ 9,9 = −k1 X, ¯ 9,12 =
T T
21 21
22 hM k1 β̄1i Bi GMj , ¯ 10,10 = −k2 X, ¯ 10,12 = τ̄ k2 β̄1i Bi GMj , ¯ 11,11 = −γ , ¯ 12,12 = −1i , ¯ 13,13 = −1i , 22
23 ¯ 14,14 = −k1 X, ¯ 15,15 = −k2 X, ¯ 16,16 = −γ . Moreover, the control gain matrices can be calculated by 23
24 Kj = Yj X −1 . 24
25 25
26 Proof. The proof of this theorem immediately follows from Theorem 3.1. Therefore, we consider the same lines as 26
27 in the proof of Theorem 3.1, it is easy to get that 27
28   28
29  = E LV (t, x(t)) − νE V (t, x(t)) − E zT (t)2(1 − θ )w(t) − zT (t)γ −1 θ z(t) + γ eνTf w T (t)w(t) . 29
30 (28) 30
31 31
32
Moreover, by replacing the gain matrix Kj with (Kj + β(t)Kj (t)) in (11) and using the relation E (β(t) − β)2 = 32
33
β̄(1 − β̄) in the derivation part of E ẋ T (t)h2M R2 ẋ(t) + ẋ T (t)τ̄ 2 R3 ẋ(t) together with Schur complement [32], we 33
34
can obtain 34
35
 ≤ ξ (t) ˆ ij ξ(t),
T
(29) 35
36
√ 36
37 where ˆ 1,8 = P1 Bwi − (1 − θ )CiT , ˆ 1,11 = θ CiT , ˆ 1,12 = β̄P1 Bi 1i Mj , ˆ 4,8 = −(1 − θ )KjT GT DiT , ˆ 4,11 = 37
38 √ T T T " # " # 38
39
θ Kj G Di , ˆ 4,13 = NjT , ˆ 4,14 = hM GT BiT β̄ 1 − β̄ NjT MjT R2 , ˆ 4,15 = τ̄ GT BiT β̄ 1 − β̄ NjT MjT , ˆ 4,16 = 39
√ T T " # √ T
40 θ G Di β̄ 1 − β̄ NjT MjT R3 , ˆ 8,8 = −(1 −θ )(Ewi +Ewi T ) −γ −γ eνTf , ˆ
8,11 = θ Ewi , ˆ 9,12 = hM k1 Bi G1i Mj ,
40
41 41
ˆ 10,12 = τ k2 Bi G1i Mj , ˆ 11,11 = −γ , ˆ 12,12 = −1i , ˆ 13,13 = −1i , ˆ 14,14 = −R2 , ˆ 15,15 = −R3 , ˆ 16,16 = −γ
42 42
43
and the remaining terms of ˆ ij = ij which are defined as in Theorem 3.1. To complete the proof, denote P −1 = X, 1 43
44 Q̄1 = XQ1 X, Q̄2 = XQ2 X, Q̄3 = XQ3 X, Q̄4 = XQ4 X, R̄1 = XR1 X, R2 = k1 P1 , R3 = k2 P1 , then pre- and post- 44
45 multiplying the inequality (29) by diag{X, X, X, X, X, X, X, I, X, X, I, I, I, X, X, I } and its transpose, it is straight- 45
1 1
46 forward to obtain the LMI (26). On the other hand, by denoting X̃ = L 2 XL 2 and considering the relations λmax (X̃) = 46

and σ L−1 < X < L−1 , it can be obtained that I < L− 2 P1 L− 2 < σ1 I , which implies λ1 = λmin (P˜1 ) > 1 and
1 1 1
47 47
λmin (P̃1 )
48 48
49
λ2 = λmax (P˜1 ) < σ1 . Further, it follows from 0 < Q̄1 < 2L−1 that 0 < L QL < 2L P1 L−1 P1 L < σ22 ,
− 12 − 12 − 12 − 12
49
50 then we have λ3 < σ22 . Similarly, we can obtain λ4 < σ22 , λ5 < σ22 , λ6 < σ22 , λ7 < σ22 , λ8 < σ22 and λ9 < σ22 from 50
51 0 < Q̄2 < 2L−1 , 0 < Q̄3 < 2L−1 , 0 < Q̄4 < 2L−1 , 0 < R̄1 < 2L−1 , 0 < k1 X < 2L−1 and 0 < k2 X < 2L−1 , respec- 51
52 tively. Based on the above analysis, condition (9) can be written as 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.10 (1-18)
10 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••

 !
1 1 4τ̄ 4hM h3M 2τ̄ 3 1
+ 2 + 2 + 2 + 2 c1 + δ(1 − e−νTf ) < c2 e−νTf . (30)
2 σ σ σ σ σ 2
3 3
4
Applying Schur complement [32] to the above inequality (30), it is easy to obtain the LMI (27). 4
From Eq. (28), we have
5   5
6 E LV (t, x(t)) < νE V (t, x(t)) + E zT (t)2(1 − θ )w(t) − zT (t)γ −1 θ z(t) + γ eνTf w T (t)w(t) . 6
7 7
Multiplying the above inequality by e−νt , it follows that
8
  8
9
EL e−νt V (t, x(t)) < e−νt E zT (t)2(1 − θ )w(t) − zT (t)γ −1 θ z(t) + γ eνTf w T (t)w(t) . 9
10 10
11 Under zero initial condition, integrating the aforementioned inequality from 0 and Tf , we can get 11
12 Tf 12
 
13 −νt −νt −1 13
e E V (t, x(t)) < e E z (t)2(1 − θ )w(t) − z (t)γ
T T
θ z(t) + γ e νTf T
w (t)w(t) dt. (31)
14 14
15 0 15
16 Hence from Definition 2.3, it can be concluded that the closed-loop TS fuzzy system (8) is finite-time mixed H∞ and 16
17 passive. This completes the proof of this theorem. 2 17
18 18
19 Next, we are going to extend the results obtained above to the uncertain TS fuzzy closed-loop system (8). Based 19
20 on the above Theorems 3.1 and 3.2, a new set of sufficient conditions ensuring robust finite-time H∞ and passivity 20
21 for the uncertain TS fuzzy system (8) is presented in the following theorem. 21
22 22
23
Theorem 3.3. Consider the closed-loop system (8) satisfying assumption of Theorem 3.1. For given positive scalars 23
24
ᾱ, ν, τ̄ , h, hM , γ , k1 , k2 , θ , c1 , Tf , β̄, δ ≥ 0 and symmetric matrix L, the uncertain closed-loop system (8) is 24
25
finite-time bounded with respect to (c1 , c2 , Tf , δ, L) if there exist positive definite matrices X, Q̄a (a = 1, 2, 3, 4), R̄1 , 25
26
any appropriate dimensioned matrices Yj (j = 1, 2, · · · r), scalars c2 , σ , 1i and 2i such that the following LMIs and 26
the condition (27) hold for 1 ≤ i ≤ j ≤ r:
27
⎡ ⎤ 27
28 [ ¯ ii ] F1T F2T 2i Ĥi ÊiT 28
⎢ ∗ −k1 X 0 0 0 ⎥
29 ⎢ ⎥ 29
⎢ ∗ 0 ⎥
30 ⎢ ∗ −k2 X 0 ⎥ < 0, i = j, (32) 30
31 ⎣ ∗ ∗ ∗ −2i I 0 ⎦ 31
32 ∗ ∗ ∗ ∗ −2i I 32
⎡ ⎤
33
¯ ¯
[ ij + j i ] F1T F2 T 2i Ĥi ÊiT
33
34 ⎢ ∗ −k1 X 0 0 0 ⎥
34
⎢ ⎥
35 ⎢ ∗ ∗ −k2 X 0 ⎥
35
⎢ 0 ⎥ < 0, i < j, (33)
36 ⎣ ∗ ∗ ∗ −2i I 0 ⎦
36
37 37
∗ ∗ ∗ ∗ −2i I
38 38
39 where F1 = [ᾱ(1 − ᾱ)hM k1 Ei Hi 015n ], F2 = [ᾱ(1 − ᾱ)τ̄ k2 Ei Hi 015n ], Ĥi = [ᾱHiT 07n ᾱhM k1 HiT ᾱ τ̄ k2 HiT 06n ]T 39
40 and Êi = [Ei X 015n ]. Furthermore, the resilient reliable control gain matrices can be estimated by using the relation 40
41 Kj = Yj X −1 . 41
42 42
43 Proof. The proof of this theorem follows immediately from Theorem 3.2 by replacing the matrix Ai with Ai + 43
44 α(t)Hi Fi (t)Ei and using the fact E (α(t) − α)2 = ᾱ(1 − ᾱ) in LMI (26). Then by using Lemma 2.5 in [7] and 44
45 Lemma 1 in [32], it can be easily obtained the LMIs in (32) and (33). Thus, the proof is completed. 2 45
46 46
47 Remark 3.4. It should be noted that, as a first attempt, the problem of finite-time passivity-based reliable resilient 47
48 sampled-data control for TS fuzzy systems with time-varying delay, randomly occurring uncertainties, randomly 48
49 occurring gain variations has been investigated in this paper. Therefore, the proposed controller design in this paper is 49
50 more general than the existing works in [32,38,46]. Moreover, it is worth mentioning that the general passivity-based 50
51 H∞ control result may not be finite-time bounded and finite-time H∞ and passive since it exceeds the optimum bound 51
52 value c2 . Thus, in the viewpoint of practical applications, the proposed results in this paper are more significant. 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.11 (1-18)
R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–••• 11

1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 Fig. 1. Truck-trailer model [43]. 12
13 13
14 4. Numerical examples 14
15 15
16 In this section, we present two numerical examples with simulation to illustrate the effectiveness and applicability 16
17 of the proposed control law. 17
18 18
19 Example 4.1. To provide a realistic framework for the simulation result, we consider the truck-trailer model as in 19
20 [43], the schematic diagram of which is shown in Fig. 1. 20
21 ⎧ 21
⎪ v t¯ v t¯ v t¯
22 ⎨ẋ1 (t) = −a Lt0 x1 (t) − (1 − a) Lt0 x1 (t − h(t)) + lt0 u(t) + w(t),
⎪ 22
v t¯ v t¯
23 ẋ2 (t) = a Lt 0 
x1 (t) + (1 − a) Lt x1 (t − h(t)), (34) 23
⎪ 0 
24 ⎪
⎩ẋ3 (t) = v t¯ sin x2 (t) + a v t¯ x1 (t) + (1 − a) v t¯ x1 (t − h(t)) , 24
25
t0 L 2L 25
26 where x1 (t) is the angle difference between truck and trailer; x2 (t) is the angle of trailer; x3 (t) represents the vertical 26
27 position of rear of trailer; u(t) denotes the steering angle; w(t) is the disturbance; In order to verify the obtained 27
28 results, we borrow the model parameters from [43] such as a = 0.7, l = 2.8, L = 5.5, v = −1.0, t¯ = 2.0 and t0 = 0.5. 28
29 Let θ (t) = x2 (t) + ( vLt¯ )x1 (t) + (1 + a) 2L
v t¯
x1 (t − h(t)) and the membership functions are defined as follows 29
30  30
sin(θ(t))−ḡ(θ(t))
if θ (t) = 0,
31
h1 (θ (t)) = θ(t)(1−ḡ) 31
32 1 if θ (t) = 0, 32
33 33
34
and h2 (θ (t)) = 1 − h1 (θ (t)), where ḡ = 10−2 /π . 34
35
The fuzzy model that represents the nonlinear system is as follows: 35
36
Plant Rule 1: IF θ (t) is about 0, THEN 36
37 ẋ(t) = (A1 + α(t)A1 (t))x(t) + B1 uF (t) + Ah1 x(t − h(t)) + Bw1 w(t); 37
38 38
39
Plant Rule 2: IF θ (t) is about ±π , THEN 39
40 ẋ(t) = (A2 + α(t)A2 (t))x(t) + B2 uF (t) + Ah2 x(t − h(t)) + Bw2 w(t), 40
41 41
42
where x(t) = [x1T (t) x2T (t) x3T (t)]T and 42
⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
v t¯ bv t¯ v t¯ bv t¯
43
− Lt 0 0 − Lt 0 0 − Lt 0 0 − Lt 0 0 43
44 ⎢ v t¯ 0
⎥ ⎢ bv t¯0 ⎥ ⎢ v t¯ 0
⎥ ⎢ bv t¯ 0
⎥ 44
45
A1 = ⎢⎣ Lt0 0 0⎥ ⎢
⎦ , Ah1 = ⎣ Lt0 0 0⎥ ⎢
⎦ , A2 = ⎣ Lt0 0 0⎥ ⎢
⎦ , Ah2 = ⎣ Lt0 0 0⎥⎦, 45
v t¯
2 2 v t¯ bv 2 t¯2 v 2 t¯2 v t¯ bdv 2 t¯2
46
2Lt0 2Lt0 0 2Lt0 0 0 d 2Lt 0 t0 0 2Lt0 0 0 46
47  T & 'T 47
48 B1 = B2 = ltv0t¯ 0 0 , Bw1 = Bw2 = 1 0 0 . 48
49 49
50
The controller output z(t) is taken with the following parameter values: 50
51 & ' & ' v t¯ 51
C1 = 0.01 0.1 0.01 , C2 = 0.1 0.1 0.1 , D1 = D2 = , Ew1 = 1, Ew2 = 2.
52 l 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.12 (1-18)
12 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••

1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
15 15
16 16
Fig. 2. Simulation results of the closed-loop uncertain TS fuzzy system (8).
17 17
18 18
19 In addition, we choose 19
20 ⎡ ⎤ ⎡ ⎤ 20
21 & ' & 0.01 0.2 0' 0.01 0.3 0 21
22 M1 = 0.01 0.01 0.01 , M2 = 0.5 0.6 0.9 , N1 = ⎣ 0.02 0.3 0 ⎦ , N2 = ⎣ 0.03 0.3 0 ⎦, 22
23 0 0.2 0.01 0 0.2 0.01 23
24 & 'T & ' 24
H1 = H2 1 0 0.01 , E1 = E2 0.2 0.655 0.03 .
25 25
26 The other parameters involved in the simulation are taken as ᾱ = 0.12, G = 0.7, F1 (t) = F2 (t) = 0.5 cos(t), Tf = 0.4, 26
27 c1 = 0.9, δ = 0.89, τ̄ = 0.12, ν = 0.123, β̄ = 0.01, θ = 0.5, k1 = 4.1, k2 = 4.2, h = 0.1 and hM = 0.17. The main 27
28 aim of this paper is to design a more generalized reliable sampled-data resilient controller such that the resulting 28
29 closed-loop system is finite-time stable with mixed H∞ and passive performance attenuation level. By solving the 29
30 LMIs obtained in Theorem 3.2 using Matlab LMI tool box, we can obtain feasible solutions with the optimum bound 30
31 value as c2 = 121.9820. According to page constraint, some of the decision variables and all the gain matrices are 31
32 displayed as follows: 32
33 ⎡ ⎤ 33
34 13.8014 2.8609 −25.7388 & ' 34
35 X = ⎣ 2.8609 4.6714 1.4355 ⎦ , Y1 = 31.4506 −1.1921 −28.6888 , 35
36 −25.7388 1.4355 464.2086 36
& ' & '
37
Y2 = 26.8888 −1.3945 −30.6113 , K1 = Y1 X −1 = 2.9041 −2.0663 0.1056 , 37
38 & ' 38
39 K2 = Y2 X −1 = 2.4721 −1.8362 0.0768 . 39
40 40
41 For the simulation framework, we choose the exogenous disturbance input as w(t) = 0.05t sin(0.1 exp(0.5t)). 41
42 Under the aforementioned gain matrices and the initial condition x(0) = [0.5π − 0.75π − 10]T , the state responses 42
43 and control curve are plotted in Figs. 2(a) and 2(b). Also, the time history of E{x T (t)Lx(t)} is presented in Fig. 3. 43
44
& j (t) = 0, then by Theorem '3.2, the conventional feedback
Next, the gain fluctuations K & reliable gain matrices
' can be 44
45 obtained as K1 = Y1 X −1 = 3.1242 −2.8564 0.2630 and K2 = Y2 X −1 = 3.1346 −3.2009 0.2953 . Based 45
46 on the above gain matrices, simulation result for state trajectories and control curve of the closed-loop system (8) 46
47 in the absence of gain fluctuations is given in Figs. 4(a) and 4(b). Further, Figs. 5(a) and 5(b) represent the state 47
48 responses and time history of the open-loop system of (8). In addition, Table 1 shows the optimum bound values 48
49 of c2 for different values of hM . From the simulation results, it is concluded that the considered uncertain TS fuzzy 49
50 system is finite-time H∞ and passive even in the presence of fault occurs, gain fluctuations and uncertain parameters 50
51 in system model. Thus, we can conclude that the proposed resilient reliable sampled-data controller is an effective one 51
52 to stabilize the considered TS fuzzy system in a finite-time interval. 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.13 (1-18)
R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–••• 13

1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
15 15
16 Fig. 3. Time history of E{x T (t)Lx(t)}. 16
17 17
18 18
19 19
20 20
21 21
22 22
23 23
24 24
25 25
26 26
27 27
28 28
29 29
30 30
31 31
32 32
33 33
34 Fig. 4. Simulation results of the closed-loop TS fuzzy system (8) without gain fluctuations. 34
35 35
36 36
37 37
38 38
39 39
40 40
41 41
42 42
43 43
44 44
45 45
46 46
47 47
48 48
49 49
50 50
51 51
52 Fig. 5. Simulation results of the open-loop T-S fuzzy system of (8). 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.14 (1-18)
14 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••

1 Table 1 1
2 Optimum bound values of c2 for different values of hM . 2
3 hM 0.11 0.12 0.13 0.14 0.15 0.16 0.17 3
4 4
c2 49.0601 51.2629 58.7392 68.9951 76.9789 100.0645 121.9820
5 5
6 6
7 7
Example 4.2. In this example to illustrate the obtained result, we consider the CE150 helicopter model system as in
8 8
[46]. The mathematical model of the helicopter system can be described by the following uncertain TS fuzzy system
9 9
with three linearized rules. For more details, one can refer the paper [46].
10
Rule 1: IF ψ is about 80◦ ; THEN 10
11 11
12 ẋ(t) = (A1 + H1 F (t)E11 )x(t) + B1 uF (t); 12
13 13
14 Rule 2: IF ψ is about 90◦ ; THEN 14
15 15
16
ẋ(t) = (A2 + H2 F (t)E12 )x(t) + B2 uF (t); 16
17
Rule 3: IF ψ is about 100◦ ; THEN 17
18 18
19 ẋ(t) = (A3 + H3 F (t)E13 )x(t) + B3 uF (t); 19
20 20
21 where x T = [ψ ud ψ̇ u̇d ], 21
22 ⎡ ⎤ 22
23
0 0 1 0 23
⎢ 0 0 0 1 ⎥
24 A1 = ⎢
⎣ −ηg cos ψ̄1 /I (2a ūd1 + b)/I −Bψ /I
⎥, 24
25
0 ⎦ 25
26
0 −1/T 2 0 −2/T 26
⎡ ⎤
27 0 0 1 0 27
28 ⎢ 0 0 0 1 ⎥ 28
A2 = ⎢
⎣ −ηg cos ψ̄2 /I (2a ūd2 + b)/I −Bψ /I
⎥,
29 0 ⎦ 29
30 0 −1/T 2 0 −2/T 30
31 ⎡ ⎤ ⎡ ⎤ 31
32
0 0 1 0 0 32
⎢ 0 0 0 1 ⎥ ⎢ ⎥
33 A3 = ⎢ ⎥ , B1 = B2 = B3 ⎢ 0 ⎥ , 33
⎣ −ηg cos ψ̄3 /I (2a ūd3 + b)/I −Bψ /I 0 ⎦ ⎣ 0 ⎦
34 34
35
0 −1/T 2 0 −2/T 1/T 2 35
⎡ ⎤
36 0 36
37 ⎢ 0 ⎥ & ' & ' 37
38
H1 = H2 = H3 = ⎢ ⎥
⎣ 0.5 ⎦ , E11 = E13 = 0.1 0.2 0.2 0 , E12 = 0.2 0.4 0.4 0 , 38
39 0 39
40 & 'T & 'T & 'T 40
41 M1 = 0.01 0.03 0.01 0.01 , M2 = 0.02 0.01 0.01 0.01 , M3 = 0.01 0.03 0.01 0.01 , 41
42
⎡ ⎤ ⎡ ⎤ ⎡ ⎤ 42
0.01 0.2 0 0 0.02 0.2 0 0 0.04 0.31 0 0
43 ⎢ 0.02 0.3 0 0 ⎥ ⎢ 0 ⎥ ⎢ 0 ⎥ 43
N1 = ⎢ ⎥ , N2 = ⎢ 0.03 0.3 0 ⎥ , N3 = ⎢ 0.02 0.34 0 ⎥,
44 ⎣ 0 0.2 0.01 0 ⎦ ⎣ 0 0.2 0.02 0 ⎦ ⎣ 0 0.24 0.02 0 ⎦ 44
45 45
0.01 0.2 0 0.2 0.02 0.3 0 0.3 0.01 0.21 0 0.26
46 46
47 ψ̄ = 80 ∗ π/180, ψ̄ = 90 ∗ π/180, ψ̄ = 100 ∗ π/180, I = 2.64 × 10−3 , Bψ = 5.43 × 10−3 , ηg = 7.66 × 10−2 , 47
48 a = 0.109, b = 2.76 × 10−2 , T = 0.2, ūd1 = 0.7149, ūd2 = 0.7212 and ūd3 = 0.7149. Here I is the moment of inertia 48
49 of the helicopter body around horizontal axis, η is the elevation driving torque, ηf is friction torque, ηm represents the 49
50 gravitational torque, ψ means the angle of elevation, Bψ denotes the friction constant, m is the mass of the helicopter, 50
51 g is the gravitational constant, l means distance between the center of gravity of the helicopter body and the supported 51
52 point, ud is the armature voltage, uF is the control input, a, b and T are some constant scalars. 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.15 (1-18)
R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–••• 15

1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
15 Fig. 6. State responses of TS fuzzy system (8). 15
16 16
17 17
18 18
19 19
20 20
21 21
22 22
23 23
24 24
25 25
26 26
27 27
28 28
29 29
30 30
31 31
32 Fig. 7. Time history of E{x T (t)Lx(t)}. 32
33 33
34 Then, the corresponding fuzzy membership functions are chosen as follows: 34
35
⎧ ⎧ 35
⎪
⎨1, ψ ≤ 80, ⎪
⎨1, ψ ≤ 80,
36 36
h1 (ψ) = 1 − (ψ − 80)/10, 80 < ψ ≤ 90, h2 (ψ) = (ψ − 80)/10, 80 < ψ ≤ 90,
37 ⎪
⎩ ⎪
⎩
37
38 0, 90 < ψ, 1 − |ψ − 100|/10, 90 < ψ ≤ 100, 38
⎧
39
⎪
⎨0, ψ ≤ 90,
39
40 40
h3 (ψ) = |ψ − 100|/10, 90 < ψ ≤ 100,
41 ⎪
⎩ 41
42 1, 90 < ψ ≤ 100. 42
43 The other parameters are taken as ν = 0.2, Tf = 8, c1 = 0.1, δ = 0.2, τ̄ = 0.1880, G = 0.7 and k1 = 6.07. In order 43
44 to stabilize the uncertain TS fuzzy closed-loop system in a finite time interval, we design the reliable sampled-data 44
45 resilient controller as mentioned in (7). By solving the LMIs obtained in Theorem 3.3 using Matlab LMI tool box, we 45
46 can obtain the feasible solutions with the optimum bound value c2 = 988 and the resilient reliable gain matrices as 46
47 K1 = Y1 X −1 = [−0.0870 − 2.2674 − 0.0861 − 0.2133], K2 = Y2 X −1 = [−0.0870 − 2.2674 − 0.0861 − 0.2133] 47
48 and K3 = Y3 X −1 = [−0.0870 − 2.2674 − 0.0861 − 0.2133]. For the simulation purposes, we choose the initial 48
49 condition as x(0) = [45◦ 0 0]T . Based on the gain matrices and initial condition, the simulation results are plot- 49
50 ted in Figs. 6(a) and 6(b). The state responses of the closed-loop TS fuzzy system (8) is shown in Fig. 6(a). Also, 50
51 Fig. 6(b) represents the state responses of the open-loop TS fuzzy system of (8). The time history of E{x T (t)Lx(t)} 51
52 is given in Fig. 7. Moreover, it is clearly seen from Table 2 that the maximum upper bound obtained in this paper is 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.16 (1-18)
16 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••

1 Table 2 1
2 Comparison results. 2
3 Method [46] Theorem 3.3 3
4 4
Upper bound τ̄ 0.1680 0.1880
5 5
6 6
7 bigger than the value in [46], which concludes that the proposed controller has less conservative and better perfor- 7
8 mance. 8
9 9
10 Remark 4.3. Consider the following TS fuzzy system: 10
11 2 11
12
ẋ(t) = hi (θ (t))[Ai x(t) + Ahi x(t − h(t))], 12
13 13
i=1
14 14
15 where h1 (θ (t)) = [1+exp(−2x
1
1 (t))]
and h2 (θ (t)) = 1 − h1 (θ (t)), 15
16 ( ) ( ) ( ) ( ) 16
−3.2 0.6 −1 0 1 0.9 0.9 0
17 A1 = , A2 = , Ah1 = , Ah2 = . 17
0 −2.1 1 −3 0 2 1 1.6
18 18
19 When the delay is time-varying and h is unknown, the LMI-based conditions of Theorem 3.2 are feasible with 19
20 hM = 0.512. However, the upper bound of time delay is obtained in [23] and [20] as hM = 0.444 and hM = 0.482, 20
21 respectively, which are smaller than of our paper. Thus, we can conclude that the proposed controller yields better 21
22 performance than in the works [20,23]. 22
23 23
24 5. Conclusion 24
25 25
26 In this paper, we have studied the finite-time passivity-based H∞ resilient reliable feedback controller for TS fuzzy 26
27 systems subject to actuator fault, input delay approach, time-varying delay, randomly occurring uncertainties and con- 27
28 troller gain variations. By employing a proper LKF along with Jensen’s inequality and Wirtinger-based double integral 28
29 inequality approach, a new set of sufficient conditions has been developed to ensure that the closed-loop system is 29
30 finite-time boundedness and finite-time mixed H∞ and passive. In particular, the gain matrices of the resilient reliable 30
31 controller and optimum bound values can be obtained by solving a feasibility problem in terms of LMIs. Finally, two 31
32 numerical examples have been presented to demonstrate the effectiveness of the proposed results. It is noteworthy that 32
33 the problem of finite-time resilient sliding mode control for interval type-2 fuzzy time delay systems with controller 33
34 gain variations is an untreated work, which will be our future research work. 34
35 35
36 Acknowledgements 36
37 37
38 The work of R. Sakthivel was supported by Samsung Research fund, Sungkyunkwna University, 2016. 38
39 39
40 References 40
41 41
42 [1] A. Benzaouia, A.E. Hajjaji, Advanced Takagi–Sugeno Fuzzy Systems, Springer International Publishing, Switzerland, 2014. 42
43 [2] A. Benzaouia, A.E. Hajjaji, A. Hmamed, R. Oubah, Fault tolerant saturated control for T-S fuzzy discrete-time systems with delays, Nonlinear 43
44 Anal. Hybrid Syst. 18 (2015) 60–71. 44
[3] K. Cao, X. Gao, H.K. Lam, A. Vasilakos, H∞ fuzzy PID control synthesis for Takagi–Sugeno fuzzy systems, IET Control Theory Appl. 10
45 45
(2016) 607–616.
46 [4] J. Cheng, S. Chen, Robust finite-time sampled-data control of linear systems subject to random occurring delays and its application to Four- 46
47 Tank system, Appl. Math. Comput. 281 (2016) 55–76. 47
48 [5] J. Cheng, J.H. Park, Y. Liu, Z. Liu, L. Tang, Finite-time H∞ fuzzy control of nonlinear Markovian jump delayed systems with partly uncertain 48
49 transition descriptions, Fuzzy Sets Syst. (2016), http://dx.doi.org/10.1016/j.fss.2016.06.007. 49
[6] J. Dong, G.H. Yang, Reliable state feedback control of T-S fuzzy systems with sensor faults, IEEE Trans. Fuzzy Syst. 23 (2015) 421–431.
50 50
[7] Y. Du, X. Liu, S. Zhong, Robust reliable H∞ control for neural networks with mixed time delays, Chaos Solitons Fractals 91 (2016) 1–8.
51 51
[8] M. Fang, J.H. Park, Non-fragile synchronization of neural networks with time-varying delay and randomly occurring controller gain fluctua-
52 tion, Appl. Math. Comput. 219 (2013) 8009–8017. 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.17 (1-18)
R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–••• 17

1 [9] L. Gao, D. Wang, Y. Wu, Non-fragile observer-based sliding mode control for Markovian jump systems with mixed mode-dependent time 1
2 delays and input nonlinearity, Appl. Math. Comput. 229 (2014) 374–395. 2
3 [10] X. Ge, Q.L. Han, Distributed sampled-data asynchronous H∞ filtering of Markovian jump linear systems over sensor networks, Signal 3
Process. 127 (2016) 86–99.
4 4
[11] W. Guan, F. Liu, Finite-time dissipative control for singular T-S fuzzy Markovian jump systems under actuator saturation with partly unknown
5 transition rates, Neurocomputing 207 (2016) 60–70. 5
6 [12] H. Hu, B. Jiang, H. Yang, Reliable guaranteed-cost control of delta operator switched systems with actuator faults: mode-dependent average 6
7 dwell-time approach, IET Control Theory Appl. 10 (2016) 17–23. 7
8
[13] H.R. Karimi, Passivity-based output feedback control of Markovian jump systems with discrete and distributed time-varying delays, Int. J. 8
Syst. Sci. 44 (2013) 1290–1300.
9 9
[14] M. Kchaou, A.E. Hajjaji, A. Toumi, Non-fragile H∞ output feedback control design for continuous-time fuzzy systems, ISA Trans. 54 (2015)
10 3–14. 10
11 [15] D. Li, Z. Wang, G. Ma, C. Ma, Non-fragile synchronization of dynamical networks with randomly occurring nonlinearities and controller gain 11
12 fluctuations, Neurocomputing 30 (2015) 719–725. 12
[16] H. Li, Y. Gao, L. Wu, H.K. Lam, Fault detection for T-S fuzzy time-delay systems: delta operator and input-output methods, IEEE Trans.
13 13
Cybern. 45 (2014) 229–241.
14 14
[17] H. Li, X. Sun, P. Shi, H.K. Lam, Control design of interval type-2 fuzzy systems with actuator fault: sampled-data control approach, Inf. Sci.
15 302 (2015) 1–13. 15
16 [18] H. Li, J. Wang, H.K. Lam, Q. Zhou, H. Du, Adaptive sliding mode control for interval type-2 fuzzy systems, IEEE Trans. Syst. Man Cybern. 16
17 46 (2016) 1654–1663. 17
[19] H. Li, C. Wu, S. Yin, H.K. Lam, Observer-based fuzzy control for nonlinear networked systems under unmeasurable premise variables, IEEE
18 18
Trans. Fuzzy Syst. 24 (2016) 1233–1245.
19 [20] L. Li, X. Liu, T. Chai, New approaches on H∞ control of T-S fuzzy systems with interval time-varying delay, Fuzzy Sets Syst. 160 (2009) 19
20 1669–1688. 20
21 [21] Z. Li, Z. Wang, D. Ding, H. Shu, Non-fragile H∞ control with randomly occurring gain variations, distributed delays and channel fadings, 21
22
IET Control Theory Appl. 9 (2015) 222–231. 22
[22] J. Lian, P. Shi, Z. Feng, Passivity and passification for a class of uncertain switched stochastic time-delay systems, IEEE Trans. Cybern. 43
23 23
(2013) 3–13.
24 [23] C.H. Lien, Further results on delay-dependent robust stability of uncertain fuzzy systems with time-varying delay, Chaos Solitons Fractals 28 24
25 (2006) 422–427. 25
26 [24] H. Liu, G. Zhou, Finite-time sampled-data control for switching T-S fuzzy systems, Neurocomputing 166 (2015) 294–300. 26
[25] Y. Liu, Y. Niu, Y. Zou, H.R. Karimi, Adaptive sliding mode reliable control for switched systems with actuator degradation, IET Control
27 27
Theory Appl. 9 (2015) 1197–1204.
28 [26] L. Lu, Z. Xing, B. He, Non-uniform sampled-data control for stochastic passivity and passification of Markov jump genetic regulatory net- 28
29 works with time-varying delays, Neurocomputing 171 (2016) 434–443. 29
30 [27] K. Mathiyalagan, J.H. Park, R. Sakthivel, New results on passivity-based H∞ control for networked cascade control systems with application 30
31 to power plant boiler-turbine system, Nonlinear Anal. Hybrid Syst. 17 (2015) 56–69. 31
[28] M.J. Park, O.M. Kwon, J.H. Park, S.M. Lee, E.J. Cha, Stability of time delay systems via Wirtinger-based double integral inequality, Auto-
32 32
matica 55 (2015) 204–208.
33 [29] R. Sakthivel, M. Joby, K. Mathiyalagan, S. Santra, Mixed H∞ and passive control for singular Markovian jump systems with time delays, 33
34 J. Franklin Inst. 352 (2015) 4446–4466. 34
35 [30] R. Sakthivel, B. Kaviarasan, Yong-Ki Ma, M. Muslim, Sampled-data reliable stabilization of T-S fuzzy systems and its application, Complexity 35
36
21 (S2) (2016) 518–529. 36
[31] R. Sakthivel, T. Saravanakumar, B. Kaviarasan, S. Marshal Anthoni, Dissipativity based repetitive control for switched stochastic dynamical
37 37
systems, Appl. Math. Comput. 291 (2016) 340–353.
38 [32] R. Sakthivel, P. Shi, A. Arunkumar, K. Mathiyalagan, Robust reliable H∞ control for fuzzy systems with random delays and linear fractional 38
39 uncertainties, Fuzzy Sets Syst. 302 (2016) 65–81. 39
40 [33] H. Shen, F. Li, Z.G. Wu, J.H. Park, Finite-time l2 − l∞ tracking control for Markov jump repeated scalar nonlinear systems with partly usable 40
model information, Inf. Sci. 332 (2016) 153–166.
41 41
[34] H. Shen, Z.G. Wu, J.H. Park, Reliable mixed passive and H∞ filtering for semi-Markov jump systems with randomly occurring uncertainties
42 and sensor failures, Int. J. Robust Nonlinear Control 25 (2015) 3231–3251. 42
43 [35] J. Song, Y. Niu, Y. Zou, Robust finite-time bounded control for discrete-time stochastic systems with communication constraint, IET Control 43
44 Theory Appl. 9 (2015) 2015–2021. 44
45
[36] L. Su, H. Shen, Mixed H∞ and passive synchronization for complex dynamical networks with sampled-data control, Appl. Math. Comput. 45
259 (2015) 931–942.
46 46
[37] T. Takagi, M. Sugeno, Fuzzy identification of systems and its application to modelling and control, IEEE Trans. Syst. Man Cybern. 15 (1985)
47 116–132. 47
48 [38] S.H. Tsai, Robust H∞ stabilization conditions for a class of uncertain T-S fuzzy neutral systems with disturbance, Neurocomputing 193 48
49 (2016) 68–80. 49
[39] S. Wang, T. Shi, L. Zhang, A. Jasra, M. Zeng, Extended finite-time H∞ control for uncertain switched linear neutral systems with time-varying
50 50
delays, Neurocomputing 152 (2015) 377–387.
51 51
[40] Z.G. Wu, P. Shi, H. Su, J. Chu, Sampled-data fuzzy control of chaotic systems based on a T-S fuzzy model, IEEE Trans. Fuzzy Syst. 22 (2014)
52 153–163. 52
 JID:FSS AID:7173 /FLA [m3SC+; v1.252; Prn:1/03/2017; 11:15] P.18 (1-18)
18 R. Sakthivel et al. / Fuzzy Sets and Systems ••• (••••) •••–•••

1 [41] Z. Xia, J. Li, J. Li, Passivity-based resilient adaptive control for fuzzy stochastic delay systems with Markovian switching, J. Franklin Inst. 1
2 351 (2014) 3818–3836. 2
3 [42] Z. Xiang, Y.N. Sun, S. Mahmoud, Robust finite time H∞ control for a class of uncertain switched neutral systems, Commun. Nonlinear Sci. 3
Numer. Simul. 17 (2012) 1766–1778.
4 4
[43] H. Yan, T. Wang, H. Zhang, H. Shi, Event-triggered H∞ control for uncertain networked T-S fuzzy systems with time delay, Neurocomputing
5 5
157 (2015) 273–279.
6 [44] Z. Yan, J.H. Park, W. Zhang, Finite-time guaranteed cost control for Itô stochastic Markovian jump systems with incomplete transition rates, 6
7 Int. J. Robust Nonlinear Control 27 (2017) 66–83. 7
8 [45] J. Yang, W. Luo, J. Cheng, Y. Wang, Further improved stability criteria for uncertain T-S fuzzy systems with interval time-varying delay by 8
delay-partitioning approach, ISA Trans. 58 (2015) 27–34.
9 9
[46] J. Yoneyma, Robust sampled-data stabilization of uncertain fuzzy systems via input delay approach, Inf. Sci. 198 (2012) 169–176.
10 10
[47] H. Yu, F. Hao, Design of event conditions in event-triggered control systems: a non-fragile control system approach, IET Control Theory
11 Appl. 10 (2016) 1069–1077. 11
12 [48] Y. Yu, H. Dong, Z. Wang, W. Ren, F.E. Alsaadi, Design of non-fragile state estimators for discrete time-delayed neural networks with parameter 12
13 uncertainties, Neurocomputing 182 (2016) 18–24. 13
[49] B.L. Zhang, Q.L. Han, X.M. Zhang, Event-triggered H∞ reliable control for offshore structures in network environments, J. Sound Vib. 368
14 14
(2016) 1–21.
15 15
[50] D. Zhang, W. Cai, Q.G. Wang, Mixed H∞ and passivity based state estimation for fuzzy neural networks with Markovian-type estimator gain
16 change, Neurocomputing 139 (2014) 321–327. 16
17 [51] D. Zhang, P. Shi, W.A. Zhang, L. Yu, Non-fragile distributed filtering for fuzzy systems with multiplicative gain variation, Signal Process. 121 17
18 (2016) 102–110. 18
[52] Y. Zhang, P. Shi, S.K. Nguang, Observer-based finite-time H∞ control for discrete singular stochastic systems, Appl. Math. Lett. 38 (2014)
19 19
115–121.
20 20
[53] Z. Zhang, C. Lin, B. Chen, New stability and stabilization conditions for T-S fuzzy systems with time delay, Fuzzy Sets Syst. 263 (2015)
21 82–91. 21
22 [54] Z. Zhang, Z. Zhang, H. Zhang, P. Shi, H.R. Karimi, Finite-time H∞ filtering for T-S fuzzy discrete-time systems with time-varying delay and 22
23 norm-bounded uncertainties, IEEE Trans. Fuzzy Syst. 23 (2015) 2427–2434. 23
24 24
25 25
26 26
27 27
28 28
29 29
30 30
31 31
32 32
33 33
34 34
35 35
36 36
37 37
38 38
39 39
40 40
41 41
42 42
43 43
44 44
45 45
46 46
47 47
48 48
49 49
50 50
51 51
52 52