Hệ thống điều khiển mờ - Thiết kế và phân tích P7

ROBUST-OPTIMAL FUZZY CONTROL This chapter discusses the robust-optimal fuzzy control problem w1 3x, which combines robust fuzzy control and optimal fuzzy control. The robust-optimal fuzzy control problem is useful for practical control system designs that call for both robustness and optimality. In the last two chapters the robustness and optimality issues have been addressed separately. | Fuzzy Control Systems Design and Analysis A Linear Matrix Inequality Approach Kazuo Tanaka Hua O. Wang Copyright 2001 John Wiley Sons Inc. CHAPTER 7 ISBNs 0-471-32324-1 Hardback 0-471-22459-6 Electronic ROBUST-OPTIMAL FUZZY CONTROL This chapter discusses the robust-optimal fuzzy control problem 1 -3 which combines robust fuzzy control and optimal fuzzy control. The robust-optimal fuzzy control problem is useful for practical control system designs that call for both robustness and optimality. In the last two chapters the robustness and optimality issues have been addressed separately. This chapter presents a unified design procedure to address both issues simultaneously to provide a solution to the robust-optimal fuzzy control problem. A design example is included to illustrate the merits of robust fuzzy control optimal fuzzy control and robust-optimal fuzzy control. The well-known nonlinear control benchmark problem that is the translational actuator with rotational actuator TORA system 4-6 is employed as the design example. ROBUST-OPTIMAL FUZZY CONTROL PROBLEM The robust-optimal fuzzy control design conditions are captured in the following theorem. Naturally these conditions are rendered by combining Theorems 23 robust fuzzy control and 25 optimal fuzzy control . THEOREM 28 The PDC controller that simultaneously considers both the robust fuzzy controller design Theorem 23 and the optimal fuzzy controller 121 122 ROBUST-OPTIMAL FUZZY CONTROL design Theorem 25 can be designed by solving the following LMIs minimize A Ta2 Vbi X M1 . Mr Yo A E aiyai Ay 4 i 1 subject to X 0 Y0 0 A x 0 x T 0 X 0 Sii s - 1 Y1 0 T - 2 Y2 0 U s - 1 Y3 0 - 2 Y4 0 where s 1 i 1 2 . r i j r . h l hj h i 1 2 . r i j r . hi l hj h Sii S T i XAT A i X -BiMi - MfEf dT DTi EaiX -EbiMi -I 0 0 0 0 -I 0 0 - 0 0 y 21 ai 0 0 0 0 -yh i_ xaT A i X -BiMj - MfB i J J i xaT a j X -b Mi- mTbT i Dai Dbi D Db XEj -M Jet Dji -I 0 0 0 0 0 DTi 0 -I 0 0 0 0 Djj 0 0 -I 0 0 0 DT 0 0 0 -I 0 0 EaiX

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