Output feedback fuzzy control design of nonlinear MIMO system: An LMI approach

This paper presents an output feedback controller design method for continuous time Takagi-Sugeno (T-S) fuzzy systems, using a fuzzy Lyapunov function. The proposed output feedback fuzzy controller is made up of a fuzzy state feedback controller based on a fuzzy Lyapunov functions and fuzzy observer based on a common quadratic Lyapunov function. Each of the observer and controller is designed separately in a two-step procedure. It is shown that the state feedback control laws and observer gains can be obtained by solving a set of Linear Matrix Inequalities (LMI) that is numerically tractable with commercially available software. A nonlinear MIMO simulation example is given to demonstrate the advantage of the proposed method.