A design method for stable fuzzy LQR controllers

While successful in many industry applications, fuzzy control still lacks formal analysis and design techniques that allow the designer to guarantee basic closed-loop features, such as stability. In this paper a systematic fuzzy controller design procedure is proposed. Its main features are: 1) it uses a Takagi-Sugeno fuzzy controller; 2) it is applicable to nonlinear plants in controllable canonical form; 3) it guarantees closed loop stability; and 4) it allows the use of linear design techniques to determine consequent parameters. The proposed design method is illustrated with an example