AN APPROACH TO FUZZY CONTROL OF NONLINEAR-SYSTEMS - STABILITY AND DESIGN ISSUES

We present a design methodology for stabilization of a class of nonlin ear systems. First, we represent a nonlinear plant with a Takagi-Sugen o fuzzy model. Then a model-based fuzzy controller design utilizing th e concept of the so-called ''parallel distributed compensation'' is em ployed. The main idea of the controller design is to derive each contr ol rule so as to compensate each rule of a fuzzy system. The design pr ocedure is conceptually simple and natural. Moreover, the stability an alysis and control design problems can be reduced to linear matrix ine quality (LMI) problems. Therefore, they can be solved efficiently in p ractice by convex programming techniques for LMI's. The design methodo logy is illustrated by application to the problem of balancing and swi ng-up of an inverted pendulum on a cart.