Abstract
This paper presents a design method of H 2 guaranteed cost (GC) fuzzy controllers for discrete-time nonlinear systems with parameter uncertainties. The Takagi and Sugeno (T–S) fuzzy model with parameter uncertainties is employed to represent an uncertain discrete-time nonlinear system. A sufficient condition for the existence of H 2 GC fuzzy controllers is presented in terms of linear matrix inequalities (LMIs). The resulting fuzzy controllers not only guarantee that the closed-loop fuzzy system is quadratically stable, but also provide a guaranteed cost on the H 2 performance index. Furthermore, an optimal H 2 GC fuzzy controller in the sense of minimizing a bound on the guaranteed cost is provided by means of an LMI optimization procedure. Finally, it is also demonstrated, through numerical simulations on the backing up control of a truck-trailer, that the proposed design method is effective.
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