Robust set-invariance based static output controller of polynomial Takagi-Sugeno fuzzy system under actuator saturation


This paper presents a robust output feedback control of polynomial Takagi-Sugeno (TS) fuzzy system under actuator saturation. In this scheme, a general polynomial Lyapunov function depend on all the system states is employed to reduce the conservatism of sum of squares (SOS) stabilization conditions. The estimation of the robust invariance set is given via the polytopic representation of the saturation effect. Based on L2-norm of external perturbation, the robust static output control design is derived as an optimization problem in terms of SOS conditions. Finally, illustrative example is presented to show the advantages of the proposed controller.