On the output regulation for TS fuzzy models using sliding modes

We address the problem of tracking references generated by an exosystem when the plant is described by a Takagi-Sugeno (TS) fuzzy model. In recent years, some authors have tried to solve this problem by constructing the desired fuzzy regulator based on the design of linear local controllers, unfortunately the regulation carried out in this way does not zero the tracking error in general. Therefore, we propose the inclusion of a discontinuous term into the control law. We demonstrate, that under certain conditions, the behavior of the controller is improved. LMI techniques are employed to make the design process more practical.