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This paper presents fuzzy tracking control design for nonlinear systems. Considering not all states of the nonlinear system are fully available or measured while Takagi-Sugeno (T-S) fuzzy model is used to represent the dynamic of nonlinear system, a fuzzy observer-based fuzzy controller is developed to reduce the tracking error. This case yields a disturbance when designing tracking control, so H∞ Scheme is employed to achieve the prescribed robust tracking performance. Simulation example is provided to illustrate the tracking control design procedure and performance of the proposed methods.