New design method for continuous Takagi-Sugeno fuzzy controller with pole placement constraints: An LMI approach
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A new design method for T-S fuzzy controller which guarantees global asymptotic stability and satisfies a desired performance is proposed in this paper. The method uses LMI approach to find the common symmetric positive definite matrix P and feedback gains Ki, i = 1,2, ..., r, numerically. The LMIs for stability criterion which treats P and Ki's as matrix variables is derived from Wang et al.'s stability criterion. Wang et al.'s stability criterion is nonlinear MIs since P and Ki's are coupled together. The desired performance is represented as r LMIs which place the closed-loop poles of r local subsystems within the desired region in s-plane. By solving the stability LMIs and pole placement constraint LMIs simultaneously, the feedback gains Ki's which guarantee global asymptotic stability and satisfy the desired performance are determined. The design method is verified by designing a T-S fuzzy controller for an inverted pendulum with a cart using the proposed method.
author list (cited authors)
Joh, J., Langari, R., Jeung, E. T., & Chung, W. J.