Observer-Based Controller Design for a Class of Discrete-Time Takagi-Sugeno Models: Application to One-Link Flexible Joint Robot
摘要
The present paper addresses the problem of a dynamic output feedback controller for discrete-time nonlinear systems described by the Takagi-Sugeno (T-S) fuzzy models with measurable premise variables. After a brief introduction outlining the proposed approach, we present both the feedback controller and observer design for the considered class. Then, in terms of linear matrix inequalities, the existence conditions of an output stabilizing feedback controller are defined. Finally, an illustrative application of a one-link flexible joint robot is given to show the effectiveness of the suggested approach.