Polytopic TSK Fuzzy Systems: Analysis and Synthesis

Diinitar P. Filev Ford Motor Company 24500 Glendale AV.. Detroit. MI 48239, USA e-mail: dfilev 0 ford.com

Abstract
In this paper we discuss the problem of analvsis and synthesis of TSK systems by using a polytopic representation of the TSK fuzzy model. This allows us to derive the necessary and sufficient conditions for synthesis of polytopic TSK compensators. The closed loop TSK system under a polytopic TSK compensator is characterized with a stable characteristic polynomial that is not dependent on the firing levels of the rules. Proceduresfor calculation of the compensators are also presented.

2 Necessary Conditions for Stability of Polytopic TSK Fuz'zy Systems

A dynamic SISO TSK fumy system P is described by a rule-base of the following format:

IF y(k-I) is Ail AND AND y(k-n) is Ain THEN y(k) = bOu(k) + ... +bnu(k-n) - aily(k-l)

...

- ... - aiiny(k-n),

i = [ I , m]

(1)

1 Introduction
Most of the theoretical and applied research on the socalled Takagi-Sugeno Kang (TSK) fuzzy systems [ l ] is related to state space based methods for analysis and synthesis. Following the pioneering work of Sugeno and Tanaka [2], the problem of stability of TSK systems was formulated and sufficient stability conditions were derived by using Lyapunov theorem. Lyapunov based approach was applied to the analysis of fuzzy and neural systems and to the design of state feedback compensators [3]. Above mentioned results, however, used the state space representation of the TSK model carrying all advantages and drawbacks of the state space technics.

Reference fuzzy sets Ail 4 2 , ..., Ain represent llinguistic labels defined over the output space; effectively, these linguistic lables determine a fuzzy partitioning of the state space into rectuangular fuzzy regions Ri = Ail x Ai2 x ... x Ain, i = [ I , m]. The output y(k) of the overall model is inferred from the individual linear subsystems according to the TSK reasoning mechanism: y(k) = bo u(k) + ... + bn u(k-n) m vi [ai1 y(k-I) - ... - ain y(k-n)] i= 1 where the weights vi = 1ci

/c
m
j= I

tj

, i = [l,m] are the

In this paper we discuss the issue of stabilization of a TSK fuzzy system based on its alternative polytopic input-output representation [4, 51. We develop a polynomial approach to the synthesis of stable TSK control systems and derive the necessary and sufficient condition for stabilization of a wide class of TSK fuzzy systems.

normalized degrees of firing of the rules t i = Ai ~(y(k-I) A

An alternative representation [4, 51 of the system P and the compensator C is provided (for zero initial conditions) by the piolytopic (nonlinear) counterpart
of (2):

... A Ain(y(k-n)) [6].

0-7803-3645-3/96 $5.0001996 IEEE

687

where vector v = [vl v2 ... vm]' is formed by the the weights vi's; the vi's are nonlinear functions of the past output values y(k-I), y(k-2), ..., through the degrees of firing, the ri's. We denote by V the set of all possible weight vectors v associated with a given TSK model; the elements vi's of a vector v E V are nonnegative and sum to one, i.e. vi 2 0 and polytopic TSK model.

For the special case vi = I and v. = 0, j#i, i, j = [I,m], J stability of the TSK fuzzy system is implied by the stability of the linear subsystems. This case reflects situations in which the TSK system dynamics IS identical to the dynamics of the i-th linear subsystem. Stability of these linear subsystems is defined by the stability of denominator polynomials Ai(z), i=(l, m) and can be analyzed based on the well-known criteria for stability of linear systems, e.g. the Schur criterion.
To deal with the general case we apply the edge theorem [7]. According to it the zeroes of a polytope of polynomials

C vi
i= 1

= 1.

We call (3) the

It is easy to verify from expression (3) that the polytopic TSK model is a ratio of the numerator polynomial B(z) and the denominator polytope A(z, v); polytope A(z,v) is a convex sum of denominator polynomials

lie in the open unit disc if and only if the edges eij(z) of polytope A(z, v): Ei,(z) = t Ai(z) + (1 - t) A,(z), i, j = [ 1, m]. t
E

[O, I ] (4)

= zn+

i= 1

C vi a i l zn-l+ ... + C vi ai,;

i=l

. .

are Schur stable. Thus the conditions for stability of characteristic polytope A(z, v) can be transformed to conditions for stability of edges E..(z), i, j = [ 1, m]. An
1J

it is parameterized by the weights, the vi's.

In the following section we discuss the necessary conditions for the stability of the TSK systems represented by the polytopic model (3). An evident necessary condition for the stability of a polytopic TSK fuzzy system is the condition for its stability in any region of the state space. This necessary condition translates into a requirement for stability of the characteristic polytope A(z, v) for any vector v. We distinguish two main cases: i. State vector [y(k) y(k-I) ... y(k-n)]' resides in one of the regions Ri = Ail x Ai2 x ... x Ain, i = [ I , m]; in other
words this is the special case vi = 1 and v. = O,j#i, i, j = J [I";

easy check for stability of the convex edge polynomials E..(z)'s follows from the Schur-Cohn stability criterion [8]: 'J stability of a pair of convex monic polynomials Ai(z) and A.(z) is implied by the lack of negative real eigenvalues of 1 the matrix T(Ai) T- I (A.), i, j = [ I , m], where J
I
0
a1 I
1, 11-3

ii.n-2-an

a,

ii.n-341 ,n- I

'(Ai
0

*In
"t,n-1

l*t4
-dl 3

at I*I

-3 n

la12

We summarize above discussion in the following theorem covering the necessary conditions for the stability of a polytopic TSK fuzzy system. Theorem 1. Polytopic TSK system (3) is stable if linear subsystem polynomials Ai(z) are stable and the matrices T(Ai) T-I(A,), i, j = [ I , m] have no negative eigenvalues. The example bellow illustrates the application of Theorem I for analysing necessary conditions for stability of a polytopic TSK system.

ii. State vector [y(k) y(k-I) ... y(k-n)]' resides in more than one region Ri, i = [ I , m]; in other words this is the
general case where v =[vI v2 ... v,]', v E V, i.e. v is any vector with nonnegative elements that sum to one.

688

Example 1. Consider the TSK fuzzy system:

Theorem 1 is that if the necessary conditions are satisfied and the state vector resides in a certain region of the state space then the polytopic TSK system will be stable. Therefore, if we design a feedback that would force the state vector to remain in a certain region of the state space then the closed loop system will be stable. We discuss this issue in the next sections.

IF y(k-2) is

& .(
-13

k- ')

T H EN

3 Necessary and Sufficient Conditions for Synthesis of Polytopic TSK Compensators

Our goal is to design a compensator C that would stabilize an object P described by a TSK fuzzy model. Due to the specific structure of the plant model it is reasonable to consider same type structure of the compensator (same fuzzy partitioning of the antecedents):

y(k)=U(k) -1.32 y(k-1)-1.22 y(k-2) -0.44y(k-3) The nonlinear transfer function associated with this model is:

IF y(k-I) is A i l AND AND y(k-n) is Ain THIEN u(k) = siOe(k)+ ... +si,e(k-c) - rilu(k-l) - ... - ricu(k-c), i=[l,nn] (6)
Denominator polytope A(z, v) is formed by the convex sum of the stable polynomials: AI(z) = z3 - I .29 z2 + 1 . I9 z 0.41 A2(z) = z3 where e(k) = w(k) - y(k) arid w(k) is the desired output at time k. The output of the TSK compensator is: u(k) = vi [sioe(k) 4- ... +sice(k-n) i= 1 - rilu(k-l) - ... - qcu(k-c)]

...

+ 1.32 z2 + 1.22 z + 0.44

(7)

Further we check the conditions for stability of the polytope A(z, v). Matrices T(A I ) and T(A2) are: T(A~)=[
-0.88

]
-1

w2)=[ -0.88 ]
-0.44 -0.22

The polytopic TSK compensator C is defined as a ratio of two polytopes:

0.41 -0.19 We form the matrix product: T(A,) T4(A2) =[ -3.54 -10.19 -3.16

Its eigenvalues are h I = -0.152 and h 2 = -6.533; henceforth the polytope A(z, v) is unstable and so is the TSK system. We can easily verify that for different values of parameter a this TSK system is unstable. If we consider the vi's as independent uncertainties (as they are considered in robust systems [9] then the necessary conditions of Theorem I are sufficient conditions as well. However, as we pointed out above, the weights vi's are nonlinear functions of the state variables rather than independent parameters. One important consequence of

We note that rules in both models have same antecedents, i.e. we deal with same degrees of firing ri's and weights vi's in expressions (1) - (3) and (6) - (8). For a particular vector v E V, the polytopes A(z, v), S ( z , v) and R(z, v) transforms into polynomials n C AV@) = z n + c ai(v) zi, S,,(z) = si(v) zi and RJz) =
i=O
C

i=O

ri(v) zi. For a certain condition given by the following i=O Lemma 1 we can calculate polynomials Sv(z) and I$(z) that assign a polynomial D(z) to the closed loop system for any
V.

689

a 1. Given a plant P with a TSK model ( 1 ) and a desired characteristic polynomial D(z). There exists a TSK compensator that assigns the characteristic polynomial D(z) to the closed loop system if and only if the numerator polynomial B(z) and the denominator polytope A(z, v) of the TSK polytopic representation (3) are coprime for any weight vector v E V. For any v E V polynomials Sv(z)
and Rv(z) of the compensator C, are the solutions of the Diophantine equation:

IF y(k-2) is .

-1

y(k)=l Ou(k- l)-u(k-2)+y(k-l)-OSy(k-2) and a desired characteristic polynomial D(z) = z3+ 0.29 z2 + 0.0044 z - 0.0027. The polytopic TSK model of this plant is: P(z, v) =
IOZ-

P r o o f . Follows from the known algebraic pole assignment theorem of linear control [4].

V I (22

+ z + 0.5) + ~2 (z2 IOZ-

z + 0.5)

z.2

+ (vi- v2) z + 0.5

In the above lemma we assumed that B(z) and A(z, v) are coprime for any v E V. While condition of coprimeness of numerator and denominator polynomials in linear systems is equivalent to controllability and observability of the system, in the case of a polytopic model it has a different formulation. The necessary and sufficient condition for coprimeness of polynomial B(z) and polytope A(z, v) is given by the following theorem.
Theorem 2. Let z b is the set of zeroes of numerator

polynomial B(z). Polynomial B(z) and polytope A(z, v)

m

vi Ai(z) are coprime for any v

i= 1

V if and only if

We are looking for a polytopic TSK compensator C by (8) that assigns characteristic polynomial D(z) to the closed loop system. To apply Lemma 1 we first check the coprimeness of polynomials B(z) = 10 z - 1 and A(z, v) = z2 + (VI-v2) z + 0.5. The only zero of B(z) is in zo = 0.1. By substituting in A(z, v) we calculate A (zo) = 0.6 f and A~(zo= ) 0.41. According to Theorem 2 , B(z) and A(z, v) are coprime for any v E V. Therefore, we can calculate S,(z) and Rv(z) from Diophantine equation (9) for any weight vector v E V: (z2 + (VI-v2) z + 0.5)R(z, v)

Ai(z0), i = [ 1, m] are of a same sign for any zo E zb. Proof. B(z) and A(z, v) have a common factor zo if and only if B(z0) = 0 and A(zo,v) = 0 for some v E V. But A(zo, v) =
0
m
E

+ (10 z -

1 ) S(z, v) =

z3+ 0.29 z2 + 0.0044 z - 0.0027

lmpulse responses of the plant and the closed loop system are in Fig. la and Ib. Five consecutive values of the antecedent state variable y(k-2), vector v, and respective polynomials S(z, v) and R(z, v) are listed in Table 1.
k y(k-2) 4 0.22 5 -0.06 6 0.015 7 -0.003 8 0.001
~ ( 1 )~ ( 2 )
S,(Z) 0.0773 z 0.0456
V(Z)

2 vi Ai(z0) = 0 for some v

i= 1

V if and only if

[min(Ai(zO)), max(Ai(zo))], because of vi L 0 and

i= 1

vi = 1.

Example 2. Consider a fuzzy system described by the following TSK model:

0.31 0.80 0.39 0 53 0.49

0.69 0.20 -0.0221 z - 0.0459 0.61 0.0607 z - 0.0456 0.47 0.0327 z - 0.0457 0.51 0.0402 z - 0.0457

z - 0.0965 z - 0.0971 z - 0.0966 z - 0.0968 z - 0.0968

THEN
-1 1

y(k)=lOu(k-I)-u(k-2)-y(k-I)-0.5y(k-2)

Table I . Five consecutive values of y(k-2), v, and polynomials Sv(z) and Rv(z).
Comment. In Lemma 1 we considered stabilization of the TSK system by assigning a desired characteristic polynomial of the closed loop system. Weak forms of this Lemma and

690

Theorem 2 can be obtained if we exclude from the set z b (Theorem 2) all stable zeroes of B(z) and include them in the desired polynomial D(z).

of the matrix equation:

Y _

SC=D' where joint vector contains the coefficients of the compensator numerator and denominator polytopes S,(z) and Rv(z), and vector D is formed by the coefficients of the polynomial D(z):

, xI d
"I

a.

C = [SO(V) (v) *.. Sn- 1 (v) ro(v) '1 (v)

... rn- 1(.)I

D = [ I dl d2 ... d2n-l]',
N

b.

ll
0

and matrix S is the modified Sylvester matrix of the polytopic TSK model (3):
0 0 . . . . 0 1 0 . 091 1 . 0 0 . ail . 0
0

i
-

s=c vi
i= 1

bl 0 . bl bn . Obn
0 0

Ol
I

0 ain . . 0 09,. . bl 0 0

(12)

Fig. I . Impulse responses of the plant (a) and the closed loop TSK system (b) - Example 2

0 0 . b n O O .ai,,

ProoJ: The order (211-1) of desired polynomial D(z) and requirement for a strictly proper polytopic TSK system P
follow from the consideration of a proper TSK compensator. Equation ( 1 1 ) can be easily derived by combining the terms with equal powers of z in the Diophantine equation (9). The inversion of modified Sylvester matrix S exists ffor any weight vector v due to the assumed coprimeness of B(z) and A(z, v). The necessary arid sufficient conditions for the coprimeness of B(z) and A(x, v) are given by Theorem 2.
N

4 Analytic Form of the Polytopic TSK Compensator

Lemma I does not provide an analytic form of the nonparametric TSK compensator C that assigns a desired characteristic polynomial to the closed loop system; in addition, the TSK compensator calculated accordingly may be nonproper. For the more realistic case of a strictly proper TSK polytopic model, however, we can analytically specify the polytopes of a proper TSK compensator that assigns a desired charactcristic polynomial D(z) to the closed loop system.
Lemma 2. Given a strictly proper polytopic TSK model

By applying the above result to Example 2 we calculate an analytic expression of the coefficients of polynomials Sv(z) and Rv(z). According to Lemma 2 the joint vector
C = [so(v) s I(v) ro(v) rl(v)] is determined by the solution
( 1 0) of the matrix equation ( I 1 ) where

(3), i.e. bo = 0, with coprime B(z) and A(z, v). If desired characteristic polynomial of the closed loop system is of
order 2n-I, i.e. D(z) = do z2n-'

is the modified Sylvester matrix of the polytopic TSK model:

0 0 1 0

+ d l z2n-2 + ... + d2n-l,

O O I O
-1 IO 0.5 -I 0 -1 0 0.5

C=

then there exists a proper polytopic TSK compensator of order c = n - 1 . For any v E V the coefficients of polynomials Sv(z) and Rv(z), of the TSK compensator C are determined from the solution

-I IO 0.5 I 0 -1 0 0.5

-0.0027

The next Example 3 provides an illustration of the procedure for assigning a characteristiic polynomial to the closed loop TSK system.

69 1

Example 3. Given a TSK fuzzy system:

where
0 1
N

IF y(k-3) is h y ( t - 3 ) T H E N

-a

y(k)=u(k- 1)-0.25~(k-3)+3.37y(k-1 )-8.42y(k-2)+5.44y(k-3)

0
1

s =VI

IF y(k-3) is

-a

y(k)=u(k- 1)-0.25u(k-3)+4.1y(k- 1)-0.25~(k-2)+0.98~(k-3) The goal is to stabilize this system by assigning a stable polynomial to the closed loop system. The polytopic TSK model of the system is: P(z,v) =
VI
+

0 0.25 0 - 0

0 0.25 0

-3.37 I 0 0 8.42 -3.37 1 I -5.44 8.42 -3.37 0 0 -5.44 8.42 0.25 0 0 -5.44

0 0

v2

0 1 0

z2 - 0.25 (23 - 3.37 Z2+ 8.42 z - 5.4375) + ~2 (23 - 4.1 z2t 0.25 z - 0.98)

0.25 0 - 0

0.25 -4.1 -0.98 0.25 0.25 0 -0.98 0.25 0 0 0.25 0 -0.98

0 0 1 0

0 0 0 1 0

1 -4.1

0 1

0 0 1 -4.1

In order to apply Lemma 1 or Lemma 2 we check the coprimeness of the numerator polynomial
B(z) = z2 - 0.25

and denominator polytope A(z, v) = V I (z3 - 3.37 z2+ 8.42 z - 5.4375) + v2 (z3 - 4.1 z2+ 0.25 z - 0.98) by using Theorem 2. The set of zeroes of the numerator polynomial is z b = [-0.5, OS]. By substituting for z into the polynomials A I = z3 - 3.37 z2+ 8.42 z - 5.4375 and A2(z) = z3 - 4.1 z2+ 0.25 z - 0.98 we calculate: AI(-0.5)
= -10.6175 and A1(0.5) = -1.9425; A2(-0.5) = -2.255 and

In Fig 2 a and b are given the impulse responses of the plant and the closed loop system.

x 10

a. a 4 . 5
I

6r

A2(0.5) = - 1.755. Therefore, according to Theorem 2 the numerator and denominator of P(z, v) are coprime for any vector v E V. P(z, v) is strictly proper of order n=3 and by Lemma 2 there exists a second order compensator assigning a polynomial of order 5. We chose desired characteristic polynomial of the closed loop system to be the stable polynomial: D(z) = z5- 1.03 z4+ 0.03 13 z3 + 0. I397 z2
+ 0.002 I z - 0.001.

b. a.1.5

-20

By substituting in ( I O ) we obtain an analytic expression for the joint vector C containing the compensator numerator and denominator polynomials Sv(z) and Rv(z):

50
100

Fig. 2. Impulse responses of the plant (a) and the closed loop TSK system (b) - Example 3.

692

Theorem 2, Lemma I and Lemma 2 allow us to design nonparametric TSK feedback compensators that assign a desired polynomial to the closed loop system. This type of control is characterized with compensator parameters that vary with vector v. In essence, the compensator has the polytopic form (8)

[4] Filev, D., "Control 01' nonlinear systems described by quasilinear fuzzy models". In: Lecture Notes in Control and Information Sciences, vol. 143. System Modelling and Optimization. Eds. H.-J. Sebastian and K. Tamer, SpringerVerlag, p. 591-598, 1989
[ 5 ] Filev, D., "Fuzzy modelling of complex systems," Int. J. of Approximate Reasoning 4, 28 1-290, 1991

5 Conclusion
Necessary and sufficient conditions for stabilizing TSK fuzzy systems by eliminating the nonlinearity of the closed loop system were derived based on the polytopic representation of the TSK model and procedures for designing pol ytopic TSK compensators were developed.

[6] Yager, R. and Filev, D., " E s s e n t l a l s o d e l i n g and Control", John Wiley & Sorbs, New York, 1994 [7] Bartlet, A.C., Hollot, C.V., and Huang, L., "Root locations of an entire polytope of polynomials: it suffices to check the edges", Math. Control Signals Systems I, 67-71, 1988
[SI Ackermann, J.E. and Barmish, B.R., "Robust Schur stability of a polytope of polynomials". IEEE Trans. on Automatic Control, vol.AC-33. 984-986, 1988

References
"Fuzzy identification of systems and its application to modeling and control." IEEE Transactions on Systems. Man and Cybernetics 15, 1 16-132, 1985. [2] Tanaka, K. and Sugeno. M., "Stability analysis of fuzzy systems using Lyapunov's direct method, Proc. of NAFIPS'90, 133-136, 1990 [3] Tanaka. K. and Sano, M., "A robust stabilization problem of fuzzy control systems and its application to backing up control of a truck-trailer", IEEE Trans. Fuzzy Systems, v01.2, 119-134, 1994
[ I ] Takagi, T. and Sugeno. M..

[9] Barmish, B.R., "UN tools for robustness of linear Svstems", Macmillan Publ. Co., New York, 1994

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