Design and stability analysis of fuzzy model-based nonlinear controller for nonlinear systems using genetic algorithm

This paper presents stability analysis of fuzzy model-based nonlinear control systems, and the design of nonlinear gains and feedback gains of the nonlinear controller using a genetic algorithm (GA) with arithmetic crossover and nonuniform mutation. A stability condition is derived based on Lyapunov´s stability theory with a smaller number of Lyapunov conditions. A solution of the stability conditions is also determined using GA. An application example of stabilizing a cart-pole typed inverted pendulum system is given to show the stabilizability of the nonlinear controller.