Robust stabilization of recurrent fuzzy systems via switching control

A method for stabilization of known equilibria in recurrent fuzzy systems is presented, which particularly accounts for model uncertainties. Since the dynamics of recurrent fuzzy systems are defined over a rectangular grid, it is first observed that for stability analysis, only gradient conditions at grid points have to be considered given that the inputs are piecewise constant. Therefore, a robust structure variable controller is proposed, switching between constant inputs. In order to prevent the system from deadlock phenomena due to the switching of the system, the structure variable control is augmented by a piecewise polynomial controller, guaranteeing asymptotic stability. The proposed method is applied to the example of an inverted pendulum.