Membership-Function-Dependent Design of $L_1$-Gain Output-Feedback Controller for Stabilization of Positive Polynomial Fuzzy Systems

This article presents the
$L_1$
-gain polynomial fuzzy output-feedback controller design and the stability analysis using the sum-of-squares (SOS) approach for positive polynomial fuzzy-model-based (PPFMB) control systems. The polynomials, positivity, and optimal
$L_1$
performance make some existing convex methods for general systems inapplicable. To overcome this problem, first, an augmented system of the PPFMB control system is constructed; then, by introducing some constraint conditions and mathematical techniques, nonconvex stability and positivity conditions are skillfully transformed into convex ones simultaneously. In addition, to control the systems flexibly and lower the implementation cost, the imperfect premise matching concept is taken into account for controller design. Besides, the high-degree-polynomial approximation method is adopted to conduct stability and positivity analysis by incorporating the information of membership functions and the boundary information of the state variables. On the basis of the Lyapunov stability theory, the relaxed stability and positivity conditions in terms of the SOS form are obtained. Finally, two simulation examples are presented to verify the feasibility of the theoretical results.