A stable dual-mode fuzzy predictive control scheme for nonlinear system

We present a method for the construction of a stable dual-mode predictive controller of nonlinear system by using the fuzzy system as a predictive model, which can be applied to a wide class of nonlinear systems. Since the model error between the nonlinear system and the fuzzy model exists, the closed-loop stability cannot be guaranteed in the neighborhood of the origin. Hence, the dual-mode controller is designed to ensure the stability in this region. In the neighborhood of the origin, a linear feedback controller designed for the linearized system generates the control action. Outside this neighborhood, predictive controller based on the fuzzy model is applied to the real nonlinear system and to drive the trajectory of the nonlinear system to the attractive region. This method under some condition yields a stable closed-loop system when applied to nonlinear systems.