Proceedings of the 6th International Conference on
4
Systems and Control, University of Batna 2, Batna,
Algeria, May 7-9, 2017
High-gain Observer-based Adaptive Fuzzy Control for a Class of
Multivariable Nonlinear Systems
L. Merazka, F. Zouan , A. Boulkroune
'LAJ, University of Jijel, BP. 98, Ouled-Aissa, 18000 Jijel, Algeria.
2 LARA, ENIT, Universite de Tunis El Manar, BP. 37, Le Belvedere, 1002 Tunis, Tunisie.
Emails:lou meraz@yahoojr.zouarijarouk@gmail.com. boulkroune2002@yahoofr
Abstract-We develop a fuzzy adaptive output-feedback
control methodology for unknown nonlinear multivariable
systems for which the input gains matrix is characterized by
non-zero leading principle minors but not
symmetric. An high-gain (HG) observer is introduced
estimate the immeasurable states. A linear in parameters fuzzy
system is adequately employed to model the uncertainties. A
matrix factorization, so-called SDU, is used when designing the
controller to factor the input gains matrix. An appropriate
Lyapunov function is exploited to study the stability of the
corresponding closed-loop control sysytem as well as to derive
the adaptation laws. A 2 DOF helicopter system is used to
validate, in a simulation framework, the performances of our
developed control approach.
Keywords: Output-feedback control, high-gain
adaptive fuzzy systems, multivariable nonlinear systems.
I. INTRODUCTION
In control system engineering, the majority of
practical systems are multivariable (multiple-input multiple­
output (MIMO» and naturally nonlinear. One is convinced
that the developed control theory of nonlinear multivariable
systems can get an immediate application in many practical
systems (space technology, chemical process, and robotics,
and so on) [1]. Owing to the natural coupling that exists
between the system inputs and outputs, the control issue of
MIMO systems is not easy and so different from that of
monovariable systems. In addition, the available results for
monovraiable systems, in general, cannot be directly
extended to MIMO system. And, when the MIMO systems
are with unknown models, subject to external dynamical
disturbances and with non-measured states, their control
problem becomes more difficult [1].
Over the past few decades, many fuzzy adaptive
control schemes [1-7] have been designed for MIMO
nonlinear unknown systems, thanks to the universal
approximation feature of the fuzzy systems [8]. The
corresponding stability analysis of the closed-loop control
system, in these schemes, is established by using the
Lyapunov's theory. To handle fuzzy reconstruction errors
and external possible disturbances, the main controller
(which is the fuzzy adaptive controller) is commonly
improved by adding a robustifying control term, which can
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SuAD.
1 ·2 1*
be a sliding-mode control term and lor an Hoo-control term
[1-7]. Compared to the classical adaptive control schemes,
the adaptive fuzzy systems can effectively cope with
necessary nonlinear systems that are linearly unparameterizable.
to
However, in the schemes in [2-4], the input-gains matrix
must to be positive-defmite (PD) or negative-definite (ND).
It is worth pointing out that this assumption is paramount in
the control design as well as in the stability study, but also
it limits the scope of applications of the fundamental results
in [2-4]. How to extend these main results to systems
characterized by a input-gains matrix which is not PD and
ND is an important problem. Motivated by works in [9-11],
this problem has been tried to be solved, in [1,5,6], by
exploiting a matrix SDU-factorization lemma. The later
observer,
allows to factor the input-gains matrix into a product of
three useful matrices, namely: a PD symmetric matrix (S),
and a diagonal matrix having the values +1 or-Ion its main
diagonal (D), and a unity upper triangular matrix (U). Later,
the PD symmetric matrix can be used in the Lyapunov
fonction candidate, as to the unity upper triangular matrix, it
allows us to sequentially design the control signals without
any algebraic-loop problem.
In addition, the most of the previous multivariable
control schemes require a complete state measurability.
Therefore, if the system states are non-measured or partially
measurable, these results cannot be used in practice. In this
case, the observer-based adaptive fuzzy control approaches
(or fuzzy adaptive output feedback control approaches) are
really required [12-22]. In the literature, one can fmd
generally two approaches to design an adaptive fuzzy output
feedback control:
a) The use of a linear state (tracking error) observer for
which the strictly positive real (SPR) condition is required
(see e.g. [12-20]): To satisfy this restrictive condition, the
observation error dynamics are generally augmented by a
low-pass filter [22] and the FBF are filtered. However, this
solution makes the order of the control system very large
(i.e. these filters can introduce delays in the estimation).
Besides, some of these results are yet questionable as stated
in [22].
96
b) The use of a high-gain observer to construct the state of Assumption 1: The vector of the desired trajectories
the tracking error dynamics [21]: Note that the main results
of [21] are also questionable as stated in [23].
Xd [YdT YdT ... (Ydn-1))Tr E Rm*n
= is bounded and
continuous.
On the other hand, all these observer-based control schemes Assumption 2:
[12-21] are based on the assumption that the control-gains
a) The leading principal minors of the input-gain matrix
matrix should be positive or negative defmite. And the case
G(x) are non-zero, and their signs are known.
agij(x)/ayY-1)
where the sign of the control-gains matrix is not defmite
has not considered in these scheme. Then, How to b) = 0, Vi = 1, ... ,m andj = 1, ... ,m.
generalize these results to multivariable systems with
indefmite control-gains matrix is a important issue.
Assumption 3: The disturbances vector, P(x, t), is bounded
and uncertain.
Motivated by the aforementioned discussions, in
this paper, a new fuzzy adaptive output-feedback control The next lemma will be useful to develop our main results.
scheme is proposed for multivariable uncertain nonlinear
systems in the presence of possible dynamical disturbances Lemma 1 (SDU-jactorization): Any matrix G(x) E Rmxm
and immeasurable states. The uncertainties are modeled by having nonzero leading principle minors can be
using the fuzzy logic systems, and the unmeasured states are decomposed as a product of three matrices [5,6]:
estimated via a HG observer. When designing the control
law, a matrix factorization so-called SDU is employed to G(x) = S(x)DT(x) (2 )
factor the input gains matrix. An appropriate Lyapunov
function is exploited to study the stability of the with Se x)E Rmxm is a PD symmetric matrix, D E Rmxm is
corresponding closed-loop control system as well as to a diagonal matrix, and T(x) E Rmxm is unity upper
derive the adaptation laws. Compared to the previous works triangular matrix. The diagonal elements of the matrix D (
[12-21], The main contributions of this work can be which are + 1 or -1 ) represent the ratios of the signs of the
concluded as follows: leading principal minors ofG(x).
• The class of multivariable uncertain nonlinear
systems considered here is relatively large as its Using Lemmal, the system (1) can be written as
input-gains matrix is not necessary symmetric and
can be no-definite. S1(x)y(n) H(x) + DT(x)u = (3)
• A high-gain (HG) observer is successfully
constructed to estimate the non-measured states. with S1(x) S-1(X) E Rmxm is a PD symmetric matrix
=

And the stability analysis associated is rigorously and, H(x) S-1(x)(F(x) + P(x, t)) E Rm.
=

demonstrated.
The tracking error of the system output, e1(t) E Rm, is

II. PRELIMINAIRIES AND SYSTEM DESCRIPTION

(4)
Consider the uncertain nonlinear MIMO systems Let us defme the tracking error variables, ei E Rm, i =

yen) F(x) +G(x)u + P(x, t),

= (1) 2 , ... ,n, as follows [11]:

where x [yT yT ... (y(n-1))Tr is the vector of non­

=

measured states, u(t) E Rm is the input, yet) E Rm is the

measured output of the system. The functions F(x) E Rm
and G(x) =[gij] E Rmxm are smooth and uncertain, and
P(x, t) E R m is an unknown disturbance.

(5)
OUT goal is to design an output-feedback control u to steer
the output yet) E Rm closer to a desired trajectoryYd(t) E
According to [11], the errors, ei' i = 2 , ... ,n, can be simply
expressed as
Rm, by ensuring the boundedness of all the signals and in
presence of uncertainties, disturbances, and unmeasurable i-1
states.
e!· = "a.
j
!)·e1( ) \-I'
v l = 2 ,3, ... ,n. (6)
L
The next assumptions will be helpful to design our control
j=O
system. where the known constant coefficients are generated aij
through the so-called Fibonacci number series [10].

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Define the error E as: III. OUTPUT -FEEDBACK CONTROLLER BASED ON
ADAPTIVE FUZZY SYSTEM
(7)
Considering (3), (6) and (7), the dynamics of E can be
A. Design of the HG observer
We can rewrite the error variable system (5) as follows
written as:
e1 ez - ev
j=O anje1(j+1)(t) + e. n-1) -
5- 1E- ' - D-151 (Yden) + £.."n-Z =

ez e3 - ez - e1,
D-1H(x) - T(x)u
=

(8)

with S1 D-151D and E [Ev ... , Emf D-1E. en-z en-1 - en-z - en-3'
= (12)
= = =
en-1 E - 2 en-1 - en-z,
=

The expression (8) can be rearranged as follows

-...!..
51E + +'21-,-_
51E a(z) - U - Den-1
= (9)
Inspired from (12), to estimate the tracking error
where vector ret) = [e[ eJ ... e�-1
e]T E Rmxn, the following

( )
high-gain observer is designed.

n-Z f31 (e1 - e1)

e1 ez - e1 + -
�
=
E
A A A

=
- 1 en '"' , j + 1 .
D 51 Yd ) + anje1( ) + en-1 D-1H(x) f3z
E (e1 - e1)
L
ez e3 - ez - e1 + 2
�
_

j=O
A A A A

1-,-_
+'251E - (T(x) -lm)u + Den-1 ( 10) ( 13)
with Z = [zJ, zL ... , z�y.
Assumption.4: The matrix 51 is supposed to satisfY the

1
following conditions:
I
with f3 i > 0, '<I i 1,2, ... , n, being design parameters, and
=

E > ° is a small scalar.

IIS; 11 � P1 and II�s; S111 � Pz,
where P1 and PZ are some unknowm constants. Remark.2: The observer (13) is a copy of the error systems
(12) with a corrective term (i.e. with feedback from
Remark. I: According to [5, 6], the vectors zi can be measurements, e1 - (11),
determined as:
ZI [XT, uz, ... , Um]T, Rmxn
To facilitate the stability analysis, we can define scaled
=
observer errors TI t � ( ) [ Tlr
TI� ... TI�] E
Zz [XT, U3' ... , Um] T,
as follows
=

zm- l [XT, Um]T,

=
n,,(t)
'/ = _1_, (e,' - £1,,)
En-l i = 1, 2, ... , n -1
zm XT,
= ( 1 1)
This useful triangular structure of Zi allows us to design
Tln(t) E - E
= (14)

control inputs Ui'

'<I i = 1, 2, ... ,m, without the algebraic By (12)-(14), the dynamics of the observation errors can be
loop problem. expressed as
Now, let us denote the following compact:

ilZi = {[ xT, Ui+V ... , umFlx E ilx Rm, Xd E ilXd }'

c

i 1,2, ... ,m - 1,
= E1ji -f3 iTlI + Tl i+1 - EZTl i_1 - ETl i' i 2, ... , n - 1 ( 15)
{xTlx E ilx Rm, Xd E ilXd }'
= =

ilzm = c

Because the functions ai(zi)

are uncertain and only the
system output is measurable, later, we will use
In a more compact form, we can rewrite (15) as follows
• an adaptive fuzzy systems to model the uncertain
nonlinearities (ai
(Zi )) , and
1j(t) -E A Tl (t) + h(.)
=
1
o ( 16)
• an HG observer to fully reconstruct the state of the
tracking errors dynamics. m
where h(.) E R n is defined as follows

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 h = -[1JI E1JI + 1JI ... E1J� - z + 2 1J� 1- - EY (17)
and the Ih Vi = 1,2 , ... , n, should be chosen such as the
with
matrix Ao is stable
Wai(Zi, Zi) = ai(Zi, en - ai(Zi, en - Wi(Zi)

O�l
= e;T1/Ji(Zi) - e;T1/Ji(Zi) - Wi(Zi) (27)
' (18)
I
m
Om
where eT 1/J(z) = [e[1/J1(Z1), ... , e�1/Jm(zm) r and
ei = ei - e; with i = 1, ... ,m.
is stable. Because the fuzzy approximation error Wi(Zi) and the FBFs
B. Output-feedback control are bounded, one can easily show the existence of the
following bound:
The uncertain function ai(zi) may be expressed in terms of
the Takagi-Sugeno fuzzy model as [5-7]: (28)

ai(Zi, eJ = eT1/JJZi), i = 1, ... ,m (19) in which wa(z, z ) = [Wa1(Z1, Z1)' ... , wam(zm, zm)F and
wa is an uncertain upper bound.
with 1/Ji(Zi) the vector of the so-called fuzzy basis
functions. This vector should be properly determined by the Substituting (26) into (9) yields:
designer. And ei is the vector updated online.
The optimal values of ei can be defined
'ETSIE �'ETS1'E _'ET{jT
+ = 1jJ(i) + 'ETaT 1jJ(i)-
-T -T - -TDen-1
e; = [
argoimin sup lai(zi) - ai(zi, ei)I ,
XEDx
] (2 0)
E wa(z,i ) - E u
Consider the following simple control law:
E (29)

Now, denote the parametric estimation error as ( 30)

ei ei - e; with i 1, ... ,m, (2 1)
= =
with E = DE = D-1E = DTE, with Kp = {
diag kp J E
and the approximation error as Rmxm is a design matrix which should be PD. E is the
estimate of E.
Wi(Zi) = ai(zi) - aJzi' en (2 2 )
with ai(zi, en = eil/Ji(Zi)' Now, consider the following controller update laws
According to [8], one has: IWi(Zi)1 � Wi, VZi E flZi'
where Wi is an uncertain upper bound. ( 31)
By using Zi, being the estimates of the vectors zi' (19) where Ytb (Ji > 0 are the design constants.
becomes:

1, ... ,m (2 3) By considering (30), the system (29) becomes

ai(Zi, ei) = eT1/Ji(Zi), i =

where zi are given by 'ETSIE �'ETS1'E _'ET{jT 'ETaT -'ETDen-1

+ = 1jJ(i) + 1jJ(i)
Zl
A
-
_
[X�T,uz,"" u
m ]T , - 'ETWa(Z, Z )-'ET (aT KpE) 1jJ(Z) +
_'ET {j-T 1jJ(i) _ 'ETDen-l _ 'ETKpE _
=

(2 4)
"" TWa(Z, Z )
-E

Now, let us denote _ ( D17n)T a-T -enTen-l -en-1

-- E+ T en-1
1jJ(z)
A

a(z) = eT1/J(z) = [a1(Zl' e1), ... , am(zm' em)y 'ETKp (E - D17n) - 'ET- W""a(z,
-TDen-1 -e�en-1 z) (32)

=[e[1/J1(Z1), ... , e�1/Jm(zm)Y, and

where E = e�-1en-l+ D17n.
and E = E+

w(z) = [W1(Zl)' ... , wm(zm)Y. (25)

From the above analysis, we can get
ai(zi, ei) - ai(zi)
= ai(zi, ei) - ai(zi, en + ai(zi, en -
aJzi' en + aJzi' en - aJzJ
= a(zi, ei ) - a(zi, en + Wai(Zi' ZJ
Theorem. Subject to Assumptions 1-4, consider the plant (1)
and with its HG observer (13) and controller (30) and (31).
Then, the corresponding closed-loop system ensures the
following properties:
• All signals (including the error variables ei ' If and
1J,
and the control input u) are uniformly bounded and
uniformly ultimate bounded (UUB).

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eIn addition, these error variables converge asymptotically II hll � 3117111 + 11 £ 11 (44)
to a neighborhood of the origin.
Then, (43) can be expressed as

Proof. Consider the following quadratic Lyapunov function: V3 � - 21 1171112 + 311PII1I71112 + IIP1I117111 11 £ II (45)
E
_ 1 �n-1 T I -T - � I -T- I T
V- 2 SI E + L..mi=12- 8i 8i +-2 71 P71· (33)
2-L..i=1 ei ei + -E hi From the control law (30) and the dynamics (9), we have

P ..:... 1--1":' - --1 -T --l-T

is a PD symmetric solution of the matrix equation given
E=- 251 51E- 51 8 l/J(i)- 51 E wa(z,i )-
in (42).
--1 --1 _
(33) can be expressed as follows
51 Den-1- 51 Kp(E- D1Jn) (46)

(34) Then, one can bound the term II £ II as follows

where

(35) IIEII � PzlIEIl + P1c111ell + P1Wa + PIlien-III + p1kpMIIEII +

p1kpMII1Jnll (47)
(36)
where c1 � 111JI(i) II, kPM stands for the largest eigen-value
(37) ofKp•

Taking the derivative of (35), and by (32) and (12), we get From (41), one has
VI � T
VI + Vz �- Li:lllediz- I KpI - L�l � lIe i liz +
- Li:11lledlZ- E KpE -en-1en-1 - L�l Ei8i l/Ji(iJ-
-T - -T
T �

-T -T
L� d u1Jn i 8 i l/J i(iJ + E KpD1Jn- E wa(z,i ) (38)
l
-T
L�l � 118;lIz + c1111Jnllllell + kPMliEII l11Jnll - % lIen_1112 +
Also, taking the derivative of (36) and substituting the IIEliwa (48)
e.
expression of Bi (i. equation (31)) yields
Then, the last term of (45) can be bounded as
(39)
IIPIIII1JIIIIEII � pz IIPIIIIEIIII1J1I + PI C1I1PIIII1Jllllell +
-
Using the fact that -(]'i8T (Ji 11-8i
i 8i � -"2 112 + �2i 11 8,,.* 112, P1WaIlPIIII1J1I +P1I1PIIII1Jllllen-111 +
P1kpMIIPIIII1JIIIIEII + P1kpMIIPIIII1JIIII1Jnll (49)
(39) becomes
On the other hand, one can establish that
Vz �- L�l Hie[ l/Ji(iJ - L�l � lIe i liz + L� � 118;liz l (40)

Accordingly, we obtain P1wa1lPIIII1J1I + IIE1i1iwa11 � � 111Jllz + � piw�IIPllz +�IIEllz +

�, 0�
VI + Vz �- Li:lllediz- I KpI - L�l � lIe i liz +
T

-T
L�l � 118;liZ + L�l d U1Jn ieTl/Ji(iJ + E KpD1Jn-
pz liPII liEII 111JII + P1kpMIIPIIII1JIIIIEIl + P1kpMIIPIIII1JIIII1Jnll �
(41)
�IIEliz + p�IIPllzll1Jllz +�kpMIIEliz + kpMPillPllzll1Jllz +
Now, let us denote P being the solution of the following
matrix equation: kpMPl IIPIIII1Jllz (51)

(42)
with P E Rmn x mn being a positive-definite symmetric PIliPII 111J1I Ilen-1lI+kpMIIEIl l11Jnll � � lIen-1liZ + � piIIPIlZIl1JIlZ +
matrix.
Taking the derivative of (37) and by substituting iJ, as
kpMII1Jllz + �kpMIIEllz (52)
defmed in (16), yields
V3 � - 21 1171112 + IIP1I1I711l11 hll, (43)
E
From (17), we can easily obtain (53)

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with Wo > 0 being a positive constant. c( cP, ,
e cP, iJ) =
[-coseSine.iJI1z -coseSinecPI1z , ] and
T =
[u1],
cosesmecpI1Z 0 Uz

From (49)-(53), (45) and (4 ), we have 1 z _

where IlZ -- -;- (l�+ln
ml
(1,+12) + m1121 + mz12' Ie - (mill
( -lz ) +
ml1l - m212)/m.
The system (58) can be transformed easily to the system (1),
as follows:

y =
F(x) + G(x)u + P(x, t) (59)
where
where F(x) = -M-1C [!] - M-1C, G(x) l
M- ,
i piwallPI12 + If,;,1 � lIe;1I2 +Wa,
=

IT =
and P(x, t) presents the external disturbances vector.
Ps 2(Pl IIPII+piIlPII2 + 1),
=

The desired trajectories are Ydl sin (t) and YdZ

P4 1 + p�IIPII2+piIlPII2 + wocipillPII2 + woci,
=
=

sin (t). The external disturbances PI (x, t) and PZ(x, t) are

=

square signals with an amplitude of =+= 1 and a frequency of

Finally, we can obtain 1I2rr Hz.
IiS; - flv + rr (55) In this proposed controller (30), two adaptive fuzzy systems,
namely 8/ l/Jl (21) and 8/ l/Jz (2z) , have been designed.
1_ (kpm - (�+�kpM))'
min These fuzzy systems have respectively the vectors [XT , uzF
with {2,_
fl =

2 2
Amax(S,) and x as inputs. The membership functions of these input
G - (P4 + kpMPS))' min; {YliO"i - �J } where are defmed as in [22]. Their intervals are selected as:
[-1.5,1.5] for x1,XZ,X3 ,X3 , and [-5,5] for Uz.
denotes the largest eigen-value of a matrix (*).
t The model's parameters are: m1 0.42 (kg) , mz
e/1
= =

MUltiplying (55) by yields

0.16 (kg) , ml 0.35 (kg) , m ml + m1 + mz , II
= = =

0.198 (m) , lz 0.174 (m) , g 9.8. We select the

= =

(56) controller parameters as follows: Yl1 Y1z 100, YZI = = =

Yzz 35, 0"1

=
O"z 0.1, Al Az
= =
kl1 k1z
= = 2, = =

And integrating (56) over [0, t], we have 0.2. We choose the initial conditions as x(O ) =

[0.5, 0 - 0.5, of, 81i(0) 0, 82i(0) o. = =

OS; Vet)S; ; + ( V(O) - ;) e

-/1t
. (57)
The numerical simulation results are presented in Figure 1.
Then, all signals (including the error variables ei, and 1], E It is clear seen from this figure that the system tracks
effectively and quickly the desired trajectory . In addition,
and the control input u) are uniformly bounded and
uniformly ultimate bounded (DUB). In addition, these error the corresponding control signals are bounded and
variables converge asymptotically to a neighborhood of the admissible
origin.

IV. CONCLUSION

IV. SIMULATION RESULTS We have presented a novel output-feedback control for

1
Study the helicopter model ( CE 50) having two propellers
driven by two direct current motors (R1, Rz). The system
outputs are the elevation angle (i.e. the horizontal angle, 8)
and the azimuth angle (i.e. the vertical angle <p). Its
dynamical model is described by [24]:
M(cp,e) [!] + C(cp,8,cP,e) [t] + G(cp,8)
multivariable uncertain nonlinear systems using adaptive
fuzzy systems. The input-gain matrix of these considered
systems is supposed to be with non-zero leading principle
minors but not necessary symmetric. A high-gain linear
observer has been introduced to estimate the derivatives of
the tracking error. Simulations of a practical multivariable
= T (58) nonlinear system have illustrated the theoretical results.

with M(A.'P' e) [COS(CPII

= 2 )2 0 ] C(A. e) [ 0 ] =
0 h2 ' 'P' mglec o se '

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 II)
!
O�1 ...oC:
0,1
m
C)m
.=;; 0
� c:
.- 0
� �.-
:J u'"
�E
!; � · 1
mm
!; � 1 ·

iii
·2 ·2
0 10 12 14 16 18 20 0 10 12 14 16 18 20
(a) t(s) (b) t(s)

...", 4
",
II)
a; 3 iU
c:
"'E C)
Om
E00.(; 2 � 0

c:� 1 ...�
N au ·1
...:J
·2
14 0 10 12 14 16 18 20
(d) t(s)
Figure 1. (a) The trajectories of Xl = ifJ (blue-line) and Ydl (red line). (b) The trajectories of X2 = (J (blue line) and Yd2(red line). (c) Norm of fuzzy
parameters: lI(JllI (blue line) and 1I(J211 (red line). (d) Control signals: Uj (blue line) and U2 (red line).

and unknown control direction", Fuzzy Sets and Systems, vol. 263,
pp. 1-26,2015
[13] M.M. Arefi, M.R. Jahed-Motlagh, "Observer-based adaptive neural
control of uncertain MIMO nonlinear systems with unknown control
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multivariable nonlinear state time-varying delay systems subject to
input nonlinearities",Fuzzy Sets and Systems", vol.l64, no. 1, pp. 45-
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