Switching fuzzy control for nonlinear systems

This paper presents a controller design condition based on a switching Lyapunov function for a class of nonlinear systems. In our previous papers we proposed a switching fuzzy model and a switching Lyapunov function for open-loop systems. The switching Lyapunov function is constructed by mirroring structure of the switching fuzzy model. In this paper, stabilization conditions to design a switching fuzzy controller are derived. To avoid discontinuity of the switching control inputs, we derive a continuity condition of control inputs. A design example illustrates the utility of this approach.