Fuzzy tracking control design for nonlinear discrete-time dynamic systems via TS fuzzy model

This study introduces a fuzzy control design method for nonlinear systems with a guaranteed H_∞ model reference tracking performance. First, the Takagi and Sugeno (TS) fuzzy model is employed to approximate a nonlinear system. Next, based on the fuzzy model, a fuzzy controller is developed to reduce the tracking error as small as possible for all bounded reference inputs. The advantage of proposed tracking control design is that only a simple linear fuzzy controller is used in our approach without the complicated feedback linearization technique and adaptive scheme. Using the proposed method, the fuzzy tracking control design problem is parametrized in terms of a linear matrix inequality problem (LMIP). The LMIP can be solved very efficiently using the convex optimization techniques