Multivariable adaptive output tracking control of T-S fuzzy systems

This paper presents a new study on adaptive output tracking control of multi-input multi-output (MIMO) T-S fuzzy system models in general non-canonical forms. Unlike canonical-form nonlinear systems whose T-S fuzzy system models have explicit relative degrees which can be directly used for deriving parametrized adaptive controllers, T-S fuzzy approximation models of non-canonical nonlinear systems generally have implicit relative degrees. For the design of adaptive feedback linearization based control to deal with system parameter uncertainties, the system dynamics of non-canonical form T-S fuzzy systems need to be reparametrized. This paper shows how to conduct a reparametrization based on relative degrees for general uncertain MIMO T-S fuzzy system models and how to derive feedback linearization based controller and its adaptive version which guarantees closed-loop stability and asymptotic output tracking. An illustrative example is presented to show the control design procedure and verify the effectiveness of the proposed control design method.