Takagi‐Sugeno Fuzzy Model and Parallel Distributed Compensation
Kazuo A. TANAKA, Hua O. Wang · 2001
This chapter starts with the introduction of the Takagi-Sugeno fuzzy model (T-S fuzzy model) followed by construction procedures of such models. Then a model-based fuzzy controller design utilizing the concept of “parallel distributed compensation” is described. The main idea of the controller design is to derive each control rule so as to compensate each rule of a fuzzy system. The design procedure is conceptually simple and natural. Moreover, it is shown in this chapter that the stability analysis and control design problems can be reduced to linear matrix inequality (LMI) problems. The design methodology is illustrated by application to the problem of balancing and swing-up of an inverted pendulum on a cart. The focus of this chapter is on the basic concept of techniques of stability analysis via LMIs.