Lie-compensator-assisted controller based on fuzzy uncertainties

Linear control is applied to a nonlinear plant, which is linearized by a Lie compensator. The controller gain is determined by minimization of the index of performance in x-domain. Optimization is carried out (i) for a fuzzy set of initial conditions, (ii) for a hard limit in the output of the state observer extending the range of operation and (iii) for uncertain plant and Lie compensator parameters.