This paper is concerned with the problem of designing switched state feedback H∞ controllers for discrete-time Takagi– Sugeno (T–S) fuzzy systems. New types of state feedback controllers, namely, switched parallel distributed compensation (PDC) controllers, are proposed, which are switched based on the values of membership functions. Switched quadratic Lyapunov functions are exploited to derive...

Explicit MPC of constrained linear systems is known to result in a piecewise affine controller and therefore also piecewise affine closed loop dynamics. The complexity of such analytic formulations of the control law can grow exponentially with the prediction horizon. The suboptimal solutions offer a trade-off in terms of complexity and several approaches can be found in the literature for the ...

This paper deals with the discrete-time switched Lur’e problem in finite domain. The aim is to provide a stabilization inside an estimate of the origin’s basin of attraction, large as possible, via a suitable switching rule. The design of this switching rule is based on the min-switching policy and can be induced by sufficient conditions given by Lyapunov-Metzler inequalities. Nevertheless inst...

This paper addresses the problem of determining robust stability regions for a class of nonlinear systems with timeinvariant uncertainties subject to actuator saturation. The unforced nonlinear system is represented by differentialalgebraic equations where the system matrices are allowed to be rational functions of the state and uncertain parameters, and the saturation nonlinearity is modelled ...

Lyapunov quadratic functionals are used to test the stability of systems, to compute the critical delay values for time delay systems, to compute the exponential estimates for the solutions of time delay systems, to calculate the robustness bounds for uncertain time delay systems, and to calculate a quadratic performance index for the process of parametric optimization for time delay systems. W...

This paper suggests a new stability analysis theorem dedicated to a class of fuzzy logic control systems. The fuzzy logic control systems consist of nonlinear Single Input-Single Output (SISO) discrete-time processes controlled by Takagi-Sugeno fuzzy logic controllers. The stability analysis is conducted on the basis of Lyapunov’s direct method with quadratic Lyapunov function candidates. The t...

This paper is concerned with the application of quadratic optimization for motion control to feedback control of robotic systems using cerebellar model arithmetic computer (CMAC) neural networks. Explicit solutions to the Hamilton–Jacobi–Bellman (H–J–B) equation for optimal control of robotic systems are found by solving an algebraic Riccati equation. It is shown how the CMAC’s can cope with no...

We present efficiently verifiable sufficient conditions for the validity of specific NPhard semi-infinite systems of linear matrix inequalities (LMIs) arising from LMIs with uncertain data and demonstrate that these conditions are “tight” up to an absolute constant factor. In particular, we prove that given an n × n interval matrix Uρ = {A | |Aij − Aij | ≤ ρCij}, one can build a computable lowe...

In this paper, we derive state-space integral quadratic constraints (IQC) equivalent to global performance criteria for a spatially invariant array of systems. We first show that a local IQC is equivalent to global stability with a decentralized Lyapunov function. Then, a local state-space IQC equivalent a global H∞ norm bound is also provided.

We focus on the development of a Lyapunov-based economic model predictive control (LEMPC) method for a class of switched nonlinear systems for which the mode transitions take place according to a prescribed switching schedule. In contrast to steady-state operation of conventional model predictive control (MPC) methods which use a quadratic objective function in their formulations, LEMPC utilize...