Membership-Function-Dependent Control Design and Stability Analysis of Interval Type-2 Sampled-Data Fuzzy-Model-Based Control System

This paper investigates the design and stability analysis of the interval type-2 (IT2) sampled-data (SD) fuzzy-model-based (FMB) control system with the optimal guaranteed cost performance. An IT2 TakagiSugeno (TS) fuzzy model is applied to describe the dynamics of the nonlinear systems where the parameter uncertainties are captured by the lower and upper membership functions. To conduct the stability analysis for the SD FMB control system, a looped-functional approach taking the advantage of the information about the sampling periods is employed. Because of the SD control strategy, the state will be sampled at each sampling instant and the control signal generated by the IT2SD fuzzy controller will be kept by the zero-order holder (ZOH) during the sampling period, which will result in mismatched membership grades between IT2 T-S fuzzy model and IT2SD fuzzy controller that leads to the complexity in carrying out stability analysis. Thanks to the imperfect premise matching (IPM) concept, which allows the difference on the number of rules and the premise membership functions between model and controller, the design of the IT2SD fuzzy controller can be more flexible. To further relax the stability conditions and minimize the upper bound of the guaranteed cost index, the membership-function-dependent (MFD) stability analysis approach which can make use of the features of the IT2 membership functions is adopted. The performance of the control system can also be adjusted through the choice of the weighting matrices in the cost function. The stability conditions building on the Lyapunov stability theory and the performance conditions building on the concept of the guaranteed cost control in the shape of linear matrix inequalities (LMIs) are established to assure the system stability and acquire the optimal guaranteed cost performance. The proposed IT2SDFMB control design is tested on the inverted pendulum system and the simulation results verify the effectiveness of the proposed approach.