Output regulation using integral fuzzy predictive control with piecewise Lyapunov functions

This study proposes an LMI-based integral fuzzy model predictive control (MPC) for output regulation via piece wise Lyapunov function. In order to eliminate the system´s bias and guarantee the zero-offset output regulation performance, firstly we take coordinate translation on equilibrium point and introduce an added integral state of output regulation error for the nonlinear plant, and then convert the resulting augmented system into a Takagi-Sugeno fuzzy model. Under the input constraint, an integrator based state feedback control law is computed by solving a convex optimization problem based on the infinite horizon predictive control scheme. Moreover, the proposed control design has following merits: i) reducing the conservatism by using piecewise Lyapunov function; ii) improving the transient performance by adding a decay rate condition; and iii) ensuring asymptotic stability for output regulation in the presence of time varying parameter. Finally, a numerical example is presented to demonstrate the effectiveness of the proposed integral fuzzy predictive controller.