Robust fuzzy PID controller for discrete-time uncertain nonlinear systems

摘要

This paper presents a design method of robust fuzzy PID controller for discrete-time uncertain nonlinear systems. The Takagi-Sugeno fuzzy model with parameter uncertainties is employed to describe discrete-time uncertain nonlinear system with bounded uncertainties. A robust pole placement called pole coloring is used to control each local model. Controller parameters are determined through cost function minimization by an optimization procedure. Closed-loop system's poles are chosen according to desired performance. The global controller is obtained by local control inference. Finally, two examples are treated to illustrate the effectiveness of the proposed design method.