Network Inversion Based Controller Design for Discrete T-S Fuzzy Model

Abstract

Abstract This paper presents an elegant method for controlling nonlinear systems by modeling them in terms of a Takagi-Sugeno(T-S) fuzzy model. The concept of network inversion is used to design the controller for such a system. The proposed controller is shown to make the closed loop system stable in the sense of Lyapunov. The existing controller design techniques for T-S fuzzy model, like LMI techniques, robust control techniques are based on a sufficient or prerequisite condition for closed loop stability whereas in the present scheme no such sufficient condition is necessary. Moreover the present approach greatly simplifies the process of controller design compared to the earlier techniques. Simulation results on three nonlinear systems show the efficacy of the proposed control scheme. The proposed controller has also been implemented on the cart pole system in real time and the results are provided with a qualitative comparison with the well established LQR control.