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I.
INTRODUCTION
Based on the stability conditions, model-based control of
T-S systems has been developed for the discrete case [1], [5],
[7] in addition to the continuous case [9], [10]. Tanaka and
Sugeno [5] have provided a sufficient condition for the
asymptotic stability of a fuzzy system in the sense of
Lyapunov through the existence of a common Lyapunov
function for all the subsystems. Tanaka and Sano [7] have
extended this to robust stability in case of systems with
premise-parameter uncertainty. Tanaka et al. [3] suggest the
idea of using linear matrix inequalities LMI for finding the
common Lyapunov P matrix where in [2] an iterative
algorithm for the choice of such common P matrix is
proposed.
A further and a significant step has also been taken to
utilize Lyapunov function based control design techniques
to the control synthesis problem for T-S models. The socalled Parallel Distributed Compensation (PDC) ( J. Li et al.
[11], [12], [13], D. Niemann et al. [9], H. Wang et al. [14])
is one such control design framework that has been
proposed and developed over the last few years. It has been
shown that within the framework of T-S fuzzy model and
PDC control design, design conditions for the stability and
performance of a system can be stated in terms of the
feasibility of a set of linear matrix inequalities (LMIs) ( J. Li
et al. [11], [12], D. Niemann et al. [9], H. Wang et al. [14]).
Khaled H. Al Mutib
Department of Computer Science
College of Computer and Information Sciences
King Saud University
P. O. Box 51178
Kingdom of Saudi Arabia
mutib@ccis.ksu.edu.sa
127
j (t )
can be written as :
For a given pair of vectors x(t) and u(t), the final output
of the fuzzy system is hence inferred as a weighted sum of
the contributing sub-models :
r
x& (t ) =
(2)
i =1
r
( (t ))
i
i =1
r
y(t ) =
(3)
i =1
r
( (t ))
i =1
th
i =1
r
(4)
(5)
i =1
From Equs. (2-3) one can observe that for all possible
values of (t ) , these are bounded within a polytope whose
vertices are the matrices of the individual rules. The
parameter dependence is affine; that is, the fuzzy state
model A( (t )), B( (t )), C( (t )), D( (t )) depends affinally on
(t ) . This means the time-varying parameter (t ) varies in
a polytope of vertices 1 , 2 ,...,
Co
{S i
: i = 1, 2 ,..., L } =
L
i =1
Bi
: i = 1,..., L
D i
CONTROL
(7)
and
A i
Si =
C i
u = C K ( (t )) x + D K ( (t )) y
IV. LPV H
i (t ) S i : i =1 i (t ) = 1, i (t ) 0
L
y = C( (t )) x + D( (t ))u
Bi
D i
i
i
A i
C
i
128
B i A( i ) B( i )
=
D i C( i ) D( i )
(15)
(16)
V. LFT :
LINEAR
(B
be
CONTROLLER
T
2
T
and (C 2 , D 21 ) , respectively, the
, D12
synthesized.
There
exists an
H controller can
LPV
controller
(R, S) in
formulation of :
Ai R + RATi
NR 0
0 I C1i R
B1Ti
RC1Ti B1i
N 0
I D11i R < 0 i = 1,2,..., L
0 I
T
D11i I
BT
T
D11i I
1i
R I
I S 0
(18)
z = C1 ( (t )) x + D11 ( (t )) w + D12 ( (t )) u
Fractional TRANSFORMATION
x& = A ( (t )) x + B1 ( (t )) w + B 2 ( (t )) u
VI.
(21)
(22)
(23)
y = C 2 ( (t )) x + D 21 ( (t )) w + D 22 ( (t )) u
A plant is further
Ai B1i B2i
A((t)) B1((t)) B2((t))
C ((t)) D ((t)) D ((t))P:= CoC D D , i =1,2...,L
1i 11i 12i
11
12
1
C D D
C2((t)) D21((t)) D22((t))
2i 21i 22i
(19)
(20)
(t ) = i (t ) i
i =1
129
(24)
(30)
i=1 j =1
A K ( (t )) B K ( (t )) r
A Ki
C ( (t )) D ( (t )) = i (t ) C
i
=
1
K
K
Ki
B Ki
D Ki
(25)
G ij + G ji
i =1
i< j
x& (t ) = hi ( (t )) hi ( (t )) G ii x(t ) + 2 hi ( (t )) h j ( (t ))
FUZZY GAIN-SCHERDULER
(26)
(27)
i =1
r
( (t ))
i
i =1
u (t ) = hi ( (t )){r (t ) y (t ) K i x(t )}
i =1
(28)
V i = C i ( A i + B i K
1
Bi)
i )
i =1
j =1
(31)
(32)
i =1
Fuzzy H Gain-Scheduler :
With reference to Fig. 3., the system receives input signal
u(t), which has already computed based on the controller
gain K. It will be necessary to choose appropriate values of
Ki in. In section 6 we introduced the H control under
which the system to be controlled described as LPV system.
Fuzzy gain-scheduling is introduced here in twofold, The
first is via the use of different fuzzy state space sub-models
(i.e. T-S models) to designate the parameters that are
changing. This will formulate the bases of constructing a
suitable LPV system based on fuzzy models for the entire
operating region.
H controller is then synthesized in
according to LPV systems.
The entire fuzzy system can then be described as:
x& (t ) = A w (.) x(t ) + B w (.) r (t )
(34)
y w (t ) = C w (.) x (t )
(35)
(36)
i =1 j =1
B w (.) = hi ( (t )) B i
(29)
x(t )
For the particular case of common matrices Bi, i.e., Bi=B for
all sub-models i=1,2,,r and for the shared rules, the
following simplified description of the entire closed loop
system can be derived as :
r
x& (t ) =
h ( (t )) { (A B K ) x (t ) + B r (t ) } (33)
( (t )){r(t ) y (t ) K x(t )}
h ( (t )) h ( (t )) B r (t )
G ij = (A i B i K j )
u(t ) =
i =1
r
C w (.) = hi ( (t )) C i
i =1
130
(37)
(38)
A w (.) = hi ( (t ))A iw
(39)
i =1
r
B w (.) = hi ( (t )) B iw
(40)
i =1
r
C w (.) = hi ( (t ))C iw
(41)
i =1
u 1 (t ) = hi ( (t ))K i x(t )
(42)
i =1
u 2 (t ) = r (t ) hi ( (t ))C i x(t )
(43)
i =1
i =1
r
I sin 2 ( ) + I cos 2 ( )
z& =
&
2
T b & 1 (I I)
&
sin
(
2
(45)
i =1
K w (.) = hi ( (t )) [C i + K i ]
(46)
i =1
(50)
1 0 0 0 e (t )
T
y=
z + e (t ) z = [ & & ]
0
0
1
0
(51)
A w (t ) Co A ijw : i = 1, 2 ,..., L ,
(48)
A ijw = A iw B iw C iw + K iw
ij
w
are formed as
Isotropic
(49)
Non-isotropic
0.3375
0.3375
0.2 Nms2
0.3375
0.3375
0.5
0.5
0
-20
1
fuzzy control was shown in Fig. 3., with reference input r(t)
applied to the system. Once the system parameters start to
change, the fuzzy controller rather select K from a large
range computed to satisfy the H performance. At the
same time, the H controller K is computed to satisfy the
extremals of system parameter variations as expressed by
Equ. (21). In addition, Fig. 3. shows the fuzzy scheduling
variable (t ) that makes the controller switches from one
controller gain Ki to another.
The figure shows the
variation of two parameters, Mi and Mj, and when more
-10
10
0.5
0.2 Nms
0.2 Nms2
0.02 Nms2
-10
10
-10
10
0.5
0
-20
1
-10
10
0.5
0
-4
1
0
-20
1
I'
0
-20
1
0.5
-2
0
-4
-2
0.5
0
-5
10
131
-3
alpha 10
(s , (t )),
i = 1, 2 , 3 , 4 }
x 10
1
0
-1
100
200
300
400
500
600
100
200
300
400
500
600
100
200
300
Time (s)
400
500
600
beta 1
0.014
0.012
0.01
beta 2
0.03
0.02
0.01
Figure 4.
IX. CONCLUSIONS
In the gain-scheduling H synthesis, the nonlinear systems
under concern were treated as uncertain system with
parametric range of variations (i.e. region of variation).
Hence, scheduled H controller has been synthesized for
such parameter varying systems. Knowledge of real time
parameter changes is obtained via the employed fuzzy
modeling technique. From the designed H gain-scheduling
for both dynamic systems under concern, it was found that
the scheduled H controller where able to adjust controller
gain parameters to follow the changes in the performance
requirements
for
scheduled
characteristics.
H
REFERENCES
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18]
[19]
[20]
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[21]
[22]
[23]
[24]
[25]
133