Design of fuzzy controllers for uncertain nonlinear systems using stability and robustness analyses

This paper analyzes the stability and robustness of uncertain nonlinear systems and shows that the analysis results provide an efficient technique for the design of fuzzy controllers. Based on a fuzzy plant model describing an uncertain nonlinear plant, this design involves the derivation of a stability criterion and a robust area in the uncertain parameter space in terms of some measures of the closed-loop control system matrices. An application example on balancing an inverted pendulum is given to illustrate the simple design methodology, the stability and the robustness of the feedback system incorporated with the proposed fuzzy controller. (C) 1998 Elsevier Science B.V. All rights reserved.