Stabilizing controller design for uncertain nonlinear systems using fuzzy models

A Lyapunov-based stabilizing control design method for uncertain nonlinear dynamical systems using fuzzy models is proposed. The controller is constru cted using a design model of the dynamical process to be controlled. The de sign model is obtained from the truth model using a fuzzy modeling approach . The truth model represents a detailed description of the process dynamics . The truth model is used in a simulation experiment to evaluate the perfor mance of the controller design. A method for generating local models that c onstitute the design model is proposed. Sufficient conditions for stability and stabilizability of fuzzy models using fuzzy state-feedback controllers are given. The results obtained are illustrated with a numerical example i nvolving a four-dimensional nonlinear model of a stick balancer.