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Designing stable MIMO fuzzy controllers

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3 Author(s)
Kubica, E. ; Dept. of Syst. Design Eng., Univ. of Waterloo, Ont., Canada ; Madill, D. ; Wang, D.

This paper presents a systematic procedure for constructing a multi-input multi-output fuzzy controller that guarantees identical performance to an existing stabilizing linear controller. An algorithm is devised that generates a fuzzy controller which is functionally identical to a given time-invariant or time-varying finite-dimensional linear controller. The benefit of this transformation is that it provides an automated technique for the initial fuzzy controller setup while vital knowledge-based attributes are integrated afterwards. An important result of this work is that once a linguistic mapping into the fuzzy domain has been performed, one can see in linguistic terms how the linear controller operates. The effectiveness of this approach is demonstrated with a model for a flexible robot that exhibits nonminimum phase characteristics. An extension is outlined to use this deterministic approach for the case of a general dynamic control-law, and several applications to nonlinear control problems are discussed.

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:35 ,  Issue: 2 )