Decoupling MBPC using fuzzy models

A decoupling strategy for affine discrete-time nonlinear systems is proposed. The idea is to invert a nonlinear model and to use the inverted model to compensate for the coupling. Linear model based predictive controller is employed to provide the reference to be followed. The control system comprises: 1) a feedback decoupling scheme, 2) a linear model-based predictive controller (MBPC), and 3) a constraints mapping that transforms the actual input constraints into constraints on the linear system. The nonlinear system to be decoupled is expressed by a Takagi-Sugeno type fuzzy model.