Stability analysis and design

of fuzzy control system using

Takagi-Sugeno approach

Presented by: Manoranjan Praharaj

Department of Electrical Engineering IITKGP
Roll No: 17EE91R07
Out Line
• Over view of the paper
• Takagi and Sugeno (T-S) fuzzy model
• Connection of Takagi and Sugeno fuzzy model
• Lyapunov theory for stability analysis
• Stability analysis of T-S model
• Design of fuzzy controller
• Conclusion
Takagi and Sugeno’s fuzzy model
• If x1 is 𝐴1𝑖 and x2 is 𝐴𝑖2 and ………… xn is 𝐴𝑖𝑛 are inputs then output can
be described as
yi =𝑎0𝑖 +𝑎1𝑖 x1+………𝑎𝑛𝑖 xn
• i denotes ith rule.
• The weight of ith rule can be determined for inputs as follows.
𝑤𝑖 =𝜇𝐴𝑖 1 (x1)* ….…… *𝜇𝐴𝑖 2 (xn) where µ denotes membership values.
𝑘 𝑖 𝑖
𝑖=1 𝑦 𝑤
y= 𝑘 𝑖
(output)
𝑖=1 𝑤
Input variable to premise variable

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)

• X(K)=[x(k),x(k-1),……x(k-n+1)]T; U(K)= [u(k),u(k-1),……u(k-m+1)]T;

• Pi =[𝐴1𝑖 , 𝐴𝑖2 ,…𝐴𝑖𝑛 ]T Qi =[𝐵1𝑖 , 𝐵2𝑖 ,……𝐵𝑚

𝑖 ]T
Fuzzy Block Diagram

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

• Rj : if X(K) is Gj and U(K) is Hj j -1,2,….,l2

𝑗 𝑛 𝑖
Then hj(k+1)=𝑐0 + 𝑐
𝑝=1 𝑝 x(k-p-1) Eqn--2

• u(k)=r(k)-h(k). Where r(k) is the reference input. Eqn--3

Simplification of type B fuzzy connection
• Considering all the three equations and l2=l1 and Pi = Gi sand Qi = Hi

• The equation reduces to

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

• Then the equilibrium state X(K)=0 is asymptotically stable and V(X(k)) is a

Lyapunov function.
Liapunov Stability in Diagram
 Condition for fuzzy system to be stable

X  AX A   n n
V ( X )  X T PX P>0 (Positive definite)

V  X T ( AT P  PA) X
PA  AT P  Q Q<0 (Negative definite)

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

𝑅1 : if 𝑥(𝑘) is 𝐴1 and 𝑢(𝑘) is 𝐵1 then 𝑢1 𝑘 = 𝑓 1 𝑥 𝑘

𝑅2 : if 𝑥(𝑘) is 𝐴2 and 𝑢(𝑘) is 𝐵2 then 𝑢2 𝑘 = 𝑓 2 𝑥 𝑘
Continuation of controller design
• Choose 𝑓 1 𝑎𝑛𝑑 𝑓 2 in such a way that individual linear system is stable.
• This calculation of feedback gain is done by any linear control theory
method such as root locus, bode plot.
• Find out a common P matrix such that the system is stable.
• Common P can be found out by any tool box or solver.
Conclusion

• If there a positive definite matrix P could not be found then it does

not say mean that the system is unstable.
• If the fuzzy system is unstable then a single common positive matrix
can not be found.
Thank You for your
attention

Questions??