Fuzzy Internal Model Control of Nonlinear Plants with Time Delay based on Parallel Distributed Compensation

The parallel-distributed compensation (PDC) together with Takagi-Sugeno-Kang (TSK) fuzzy modelling proved to be a modern model-based systematic approach for the design of fuzzy nonlinear controllers from stability and robustness requirements. The usual local linear controllers comprise a state feedback. This requires measurements of the state variables or an observer design. The aim of the present investigation is to develop a fuzzy internal model controller (FIMC) for a nonlinear plant with time delay under uncertainties. The FIMC is PDC-TSK based with dynamic local linear controllers, which are designed on the principle of the internal model controllers to ensure local linear systems stability and robustness. The main contribution of the paper is a method for the design of a FIMC, designed FIMC for the control of the air temperature in a laboratory furnace and MATLAB based simulation investigations of the closed loop system stability and dynamic performance. The FIMC reduces the settling time and the overshoot and improves the system robustness compared to a linear PI controller. Key-Words: Fuzzy internal model control, MATLAB, robustness, simulation, stability, temperature, time delay