T-S Fuzzy Controller for a Class of Nonlinear Systems with Input Constraint

Abstract

This paper deals with stability analysis and control design for a class of nonlinear systems with input constraint when using the T-S fuzzy model. As a result, it arrives at an feedback controller that is composed of two parts: one is obtained by solving certain linear matrix inequalities (LMIs) (fixed part) to deal with the input constraint, and another one is acquired by an adaptive law (variable part) to deal with the reconstruction error between the real system and its T-S fuzzy model. Also, a discussion on how to reduce the conservatism of LMI conditions is provided. An inverted pendulum is given to demonstrate the effectiveness of the proposed feedback controller.