LMI-based stability and performance conditions for continuous-time nonlinear systems in Takagi-Sugeno's form

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97 Citations (Scopus)


This correspondence presents the stability analysis and performance design of the continuous-time fuzzy-model-based control systems. The idea of the nonparallel-distributed-compensation (non-PDC) control laws is extended to the continuous-time fuzzy-model-based control systems. A nonlinear controller with non-PDC control laws is proposed to stabilize the continuous-time nonlinear systems in Takagi-Sugeno's form. To produce the stability-analysis result, a parameter-dependent Lyapunov function (PDLF) is employed. However, two difficulties are usually encountered: 1) the time-derivative terms produced by the PDLF will complicate the stability analysis and 2) the stability conditions are not in the form of linear-matrix inequalities (LMIs) that aid the design of feedback gains. To tackle the first difficulty, the time-derivative terms are represented by some weighted-sum terms in some existing approaches, which will increase the number of stability conditions significantly. In view of the second difficulty, some positive-definitive terms are added in order to cast the stability conditions into LMIs. In this correspondence, the favorable properties of the membership functions and nonlinear control laws, which allow the introduction of some free matrices, are employed to alleviate the two difficulties while retaining the favorable properties of PDLF-based approach. LMI-based stability conditions are derived to ensure the system stability. Furthermore, based on a common scalar performance index, LMI-based performance conditions are derived to guarantee the system performance. Simulation examples are given to illustrate the effectiveness of the proposed approach.
Original languageEnglish
Pages (from-to)1396-1406
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number5
Publication statusPublished - 1 Oct 2007


  • Fuzzy control
  • Parameter-dependent Lyapunov function (PDLF)
  • Performance realization
  • Stability analysis

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence
  • Human-Computer Interaction


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