Output-feedback control design for Takagi-Sugeno fuzzy systems through Lyapunov functions depending polynomially on the states

Abstract

This paper proposes a new strategy based on linear matrix inequalities (LMIs) for the synthesis of state- and output-feedback controllers through parallel distributed compensation for continuous-time Takagi-Sugeno fuzzy systems. The main novelty of the proposed design technique is the use of homogeneous polynomial Lyapunov functions of degree larger than two on the states, generalizing the results based on quadratic functions. Parametrized in terms of a constant matrix, those homogeneous polynomial Lyapunov functions provide less conservative results in terms of stability and decay rate of trajectories when dealing with membership functions whose time-derivatives have unknown bounds. The synthesis procedure is formulated in terms of a locally convergent iterative algorithm, where a set of LMIs defined in an augmented parameter space is solved at each iteration. Numerical examples are used to compare the proposed method with quadratic stabilizability techniques available in the literature, illustrating the advantages of higher degree Lyapunov functions.