Fuzzy controller/observer via grid point design and SVD consolidation

A numerical approach to design controllers for nonlinear plant has been proposed in a recent work. The approach calls for generating the plant´s linear approximations over a set of grid points in the domain of the state variables and then designing controllers for the grid point models using standard methods. The sets of models and controllers are then consolidated jointly using an SVD-based technique, resulting in an integrated fuzzy structure by which the stability of the closed loop system can be readily checked. As proposed, the approach allows more flexible design of control performance over a previous work which confines the controller design to the inherent fuzzy structure of the plant. In this paper, the approach is extended further to incorporate the design of grid point observers, while still achieving the global stability of the overall closed loop system. A numerical example is used to illustrate key ideas and results.