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Z1 (t ) f ( x1 , x2 )
Z 2 (t ) f ( x1 , x2 )
Takagi and Sugeno’s fuzzy model cont….
• Li : if x(k) is 𝐴1𝑖 and …..and x(k-n+1) is 𝐴𝑖𝑛 and u(k) is 𝐵1𝑖 and ……. u(k-n+1)
is 𝐵𝑛𝑖 then
xi(k+1)= 𝑎0𝑖 +𝑎1𝑖 𝑥(𝑘)+……+𝑎𝑛𝑖 𝑥(𝑘 − 𝑛 + 1)
+𝑏0𝑖 +𝑏1𝑖 𝑢(𝑘)+……+𝑏𝑚 𝑖
𝑢(𝑘 − 𝑚 + 1).
• 𝐴1𝑖 for (i=1,2,3 …l) and 𝐵1𝑖 for (i=1,2,3 …l) are all continues piecewise
membership function of fuzzy set A.
• It is to be noted that multiplication of continues piecewise membership
function is continuous.
Representation in vector form
• Li : if X(K) is Pi and U(K) is Qi
Then xi(k+1)=𝑎0𝑖 + 𝑛
𝑎
𝑝=1 𝑝
𝑖 x(k-p-1)+ 𝑚 𝑏 𝑖
𝑞=1 𝑝 𝑢(k-q-1)
Type A Type B
Discussion on Type 2 fuzzy connection
• Li : if X(K) is Pi and U(K) is Qi i -1,2,….,l1
Then xi(k+1)=𝑎0𝑖 + 𝑛
𝑎
𝑝=1 𝑝
𝑖 x(k-p-1)+𝑏 𝑖 𝑢(k) Eqn--1
𝑗 𝑛 𝑖
Then hj(k+1)=𝑐0 + 𝑐
𝑝=1 𝑝 x(k-p-1) Eqn--2
𝑖 𝑖 𝑗 𝑖 𝑛 𝑖 𝑖 𝑗
xij(k+1)= 𝑎0 -𝑏 𝑐0 + 𝑏 r(k) + 𝑝=1 𝑎𝑝 −𝑏 𝑐𝑝 𝑥(𝑘 − 𝑝 + 1)
i, j 1,2,....., l
Conversion into a linear form for stability
analysis
• Li : if x(k) is 𝐴1𝑖 and …..and x(k-n+1) is 𝐴𝑖𝑛 then
xi(k+1)= 𝑎1𝑖 𝑥(𝑘)+……+𝑎𝑛𝑖 𝑥(𝑘 − 𝑛 + 1)
• This can be written as AiX(k) where
• X(k)=[x(k), x(k-1),…. x(k-n+1)]T ;
𝑎1𝑖 𝑎2𝑖 𝑎𝑛1
• Ai= 1 0 0
0 1 0
• So the out put of fuzzy system can be derived as
𝑙 𝑖
𝑖=1 𝑤 𝑨𝑖 𝑿(𝑘)
• X(k+1) = 𝑙 𝑤 𝑖
𝑖=1
Lyapunov’s Stability theorem
• Considering this discrete time system X(k+1)=f(X(k)) where X(k) ∈ 𝑅𝑛
• Suppose there exists a scalar function V(x(k)) continuous in X(k) such that
1) V(0)=0,
2) V(X(k))>0 for X(k)≠0,
3) V(X(k)) approaches infinity as 𝑿 → ∞,
4) 𝛻𝑉 𝑿 𝑘 < 0 for X(k)≠0
For a fuzzy system to be stable of type B we need to find a common positive definite,
matrix P such that Ai PAi P 0 for 𝑖 = 1,2, … . 𝑙
T
There is need to find a common “P” for all the systems to show that the system is
stable.
What is the problem with this approach
• Using LMI we can find a common ‘P’ for which the previous condition is
satisfied can say that the system is stable.
• If the system is unstable then we can not find a common ‘P’ matrix for all
the sub systems.
• But if we can not find a common ‘P’ then nothing can be said about the
stability of the system.
• If all the A matrices are stable that does not mean that combined system is
stable.
• So this approach is more conservative…...
Designing a fuzzy controller (model based)
• The design procedure consists of derivation of fuzzy systems by
connecting models.
EX:
𝐿1 : if 𝑥(𝑘) is 𝐴1 and 𝑢(𝑘) is 𝐵1 then 𝑥 1 𝑘 = 𝑎1 𝑥 𝑘 + 𝑏1 𝑢 𝑘
𝐿2 : if 𝑥(𝑘) is 𝐴2 and 𝑢(𝑘) is 𝐵2 then 𝑥 2 𝑘 = 𝑎2 𝑥 𝑘 + 𝑏 2 𝑢 𝑘
Questions??