Robust control of Takagi–Sugeno fuzzy systems with state and input time delays

This paper addresses the robust H ∞ fuzzy control problem for nonlinear uncertain systems with state and input time delays through Takagi–Sugeno (T–S) fuzzy model approach. The delays are assumed to be interval time-varying delays, and no restriction is imposed on the derivative of time delay. Based on Lyapunov–Krasoviskii functional method, delay-dependent sufficient conditions for the existence of an H ∞ controller are proposed in linear matrix inequality (LMI) format. Illustrative examples are given to show the effectiveness and merits of the proposed fuzzy controller design methodology.