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Fuzzy gain scheduling: controller and observer design based on Lyapunov method and convex optimization

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4 Author(s)
P. Korba ; ABB Switzerland Ltd., Baden-Daettwil, Switzerland ; R. Babuska ; H. B. Verbruggen ; P. M. Frank

Addresses model-based fuzzy control. A constructive and automated method for the design of a gain-scheduling controller is presented. Based on a given Takagi-Sugeno fuzzy model of the plant, the controller is designed such that stability and prescribed performance of the closed loop are guaranteed. These properties are valid in a wide working range around an equilibrium without restrictions to slowly varying trajectories. The synthesis is based on linear matrix inequalities and convex optimization techniques. If required, a fuzzy state estimator and an extended controller can be included, providing a zero steady-state error in the presence of disturbances and modeling errors. The proposed method has been applied to a control of a laboratory liquid-level process. Hence, the performance has been evaluated in simulations as well as in real-time control.

Published in:

IEEE Transactions on Fuzzy Systems  (Volume:11 ,  Issue: 3 )