Robust Fuzzy Integral Regulator Design for a Class of Affine Nonlinear Systems

Tung-Sheng CHIANG
Chian-Song CHIU
Peter LIU

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E89-A    No.4    pp.1100-1107
Publication Date: 2006/04/01
Online ISSN: 1745-1337
DOI: 10.1093/ietfec/e89-a.4.1100
Print ISSN: 0916-8508
Type of Manuscript: PAPER
Category: Systems and Control
T-S fuzzy model,  regulation,  affine systems,  H performance criterion,  linear matrix inequality (LMI),  

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This paper proposes a robust fuzzy integral controller for output regulating a class of affine nonlinear systems subject to a bias reference to the origin. First, a common biased fuzzy model is introduced for a class of continuous/discrete-time affine nonlinear systems, such as dc-dc converters, robotic systems. Then, combining an integrator and parallel distributed compensators, the fuzzy integral regulator achieves an asymptotic regulation. Moreover, when considering disturbances or unstructured certainties, a virtual reference model is presented and provides a robust gain design via LMI techniques. In this case, H performances is guaranteed. Note that the information regarding the operational point and bias terms are not required during the controller implementation. Thus, the controller can be applied to a multi-task regulation. Finally, three numerical simulations show the expected results.