On design of switching controllers for uncertain multivariable nonlinear systems based on a fuzzy logic approach

This paper presents the design of a stable and robust controller for multivariable nonlinear systems subject to very large parameter uncertainties or even unknown parameters. This switching controller consists of a number of controllers and will switch among themselves during the operation. The switching activity is governed by a switching law which is to be derived in this paper. The resulting system has the following advantages: (1) the system stability is guaranteed; (2) desired performance can be obtained through a proper design; (3) a very robust controller is realized; (4) the regulation and tracking problems for uncertain nonlinear systems can be tackled; and (5) the design methodology is systematic. Application examples are given to show the merits of the proposed switching controller.