Fuzzy robust tracking control for uncertain nonlinear systems (Q701008)

This paper discusses the robust output tracking control design for nonlinear systems in the presence of a norm-bounded time-varying uncertainty. The Takagi-Sugeno (T-S) fuzzy model with parametric uncertainties in both the conditions of the state variables available or unavailable is first employed to represent a nonlinear system. Based on (T-S) fuzzy model, fuzzy robust state feedback output tracking controller and fuzzy robust observer-based output tracking controller are proposed. Sufficient conditions are derived for robust asymptotic output tracking controllers in the format of linear matrix inequalities (LMIs), which can be very efficiently solved by using LMI optimization techniques. The overall proposed design methodology presents a systematic and effective framework for an inverted pendulum.