Design of fuzzy gain-scheduled robust controllers using Kharitonov's extremal gain margin theorem

摘要

In this paper a novel fuzzy gain-scheduler is applied to linear plants the transfer functions of which consist of interval polynomials. The gain-scheduler performs an incremental tuning of the controller parameters employing a sliding-mode fuzzy control algorithm. The allowed ranges of variation of the controller gains are determined by using Kharitonov's Extremal Gain Margin Theorem. Sufficient conditions for the asymptotic stability of the closed-loop system are given. The validity of the method is verified via simulation tests.