Robust Takagi-Sugeno fuzzy model based control design

In this paper a robust fuzzy control design based on gain and phase margins specifications for nonlinear systems, in the continuous time domain, is proposed. A mathematical formulation based on Takagi-Sugeno fuzzy model structure as well as the PDC strategy is presented. Analytical formulas are deduced for the sub-controllers parameters, in the robust fuzzy controller rules base, according to the fuzzy model parameters of the fuzzy model plant to be controlled. Results for the necessary and sufficient conditions for the fuzzy controller design, from the proposed robust methodology, with one axiom and two theorems are presented. Simulation results, based on robust methodology, for a single link robotic manipulator are presented.