An analytical framework of fuzzy modeling and control of nonlinear systems: stability and design issues

Presents a design methodology for stabilization of a class of nonlinear systems. First, the authors approximate a nonlinear plant with a Takagi-Sugeno fuzzy model. Then a model-based fuzzy controller design utilizing the concept of so-called “parallel distributed compensation” is employed. 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. The method is illustrated by application to the problem of balancing and swing-up of an inverted pendulum on a cart