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i=1
w
i
(z
k
)
_
A
i
x
k
+B
i
u
k
_
= A(z
k
)x
k
+B(z
k
)u
k
(2)
where
A(z
k
) =
r
i=1
w
i
(z
k
)A
i
, B(z
k
) =
r
i=1
w
i
(z
k
)B
i
(3)
w
i
(z
k
) =
p
j=1
M
i
j
(z
j
(k))
r
i=1
p
j=1
M
i
j
(z
j
(k))
(4)
M
i
j
(z
j
(k)) is the grade of membership function of z
j
(k)
in M
i
j
.
w
i
(z
k
) 0,
r
i=1
w
i
(z
k
) = 1. (5)
The open-loop model of (1) is given by
x
k+1
=
r
i=1
w
i
(z
k
)A
i
x
k
. (6)
In [6], [7], [9], [12] etc., the following Lyapunov function
is considered for the stability analysis of fuzzy system
(2)
v(x
k
) = x
T
k
Px
k
. (7)
The basic Theorem based on the Lyapunov function is
given as follows.
Lemma 1 ([7]) The equilibrium of the fuzzy system
(6) is globally asymptotically stable if there exists a
common positive denite matrix P for all the subsys-
tems such that
A
T
i
PA
i
P < 0 (8)
for i = 1, 2, ..., r.
According to Lemma 1, it is dicult to nd a common
positive denite matrix solution for (8) when the num-
ber of the fuzzy rules is large, sometimes this condition
can not be satised.
In the next section, a new stability condition will be
obtained with fuzzy Lyapunov function.
3 Stability analysis based on fuzzy
Lyapunov function approach
Consider a candidate of discrete-time fuzzy Lyapunov
function for system (6)
v(x
k
, z
k
) = x
T
k
P(z
k
)x
k
, P(z
k
) =
r
i=1
w
i
(z
k
)P
i
(9)
where P
i
(i = 1, 2, ..., r) are positive denite matrices.
Hence, under zero initial condition, this function sat-
ises:
(a) v(0) = 0;
(b) v(x
k
, z
k
) > 0 for x
k
= 0;
(c) v(x
k
, z
k
) approaches innity as x
k
.
Applying Lyapunov stability theory, if the following
inequality holds
L = v(x
k+1
, z
k+1
) v(x
k
, z
k
) < 0 (10)
along the solution of (6), then system (6) is asymptot-
ically stable and v(x
k
, z
k
) is a Lyapunov function.
Clearly, the fuzzy Lyapunov function is a parameter-
dependent Lyapunov function, it shares the same
weighted value w
i
(k) with the ith fuzzy rule of the
model.
Theorem 1 For the discrete-time fuzzy system (6), if
there exist positive denite matrices P
i
(or P
l
) such that
the following inequality
A
T
i
P
l
A
i
P
i
< 0 (11)
holds for i, l = 1, 2, ..., r, system (6) is asymptotically
stable.
Proof. Select the fuzzy Lyapunov function as in (9)
and dene L in (10), then
L
= x
T
k+1
P(z
k+1
)x
k+1
x
T
k
P(z
k
)x
k
= x
T
k
_
A
T
(z
k
)
_
r
i=1
w
i
(z
k+1
)P
i
_
A(z
k
) P(z
k
)
_
x
k
. (12)
From (4) and (5), it can be easily found that
w
i
(z
k+1
) 0,
r
i=1
w
i
(z
k+1
) = 1. (13)
By applying (5) and (13), we have
P(z
k
)
=
r
i=1
w
i
(z
k
)P
i
=
r
i=1
r
l=1
r
j=1
w
i
(z
k
)w
l
(z
k+1
)w
j
(z
k
)P
i
. (14)
Hence,
L = x
T
k
r
i=1
r
l=1
r
j=1
w
i
(z
k
)w
l
(z
k+1
)w
j
(z
k
)
(A
T
i
P
l
A
j
P
i
)x
k
= x
T
k
r
l=1
w
l
(z
k+1
)
l
x
k
(15)
where
l
=
r
i=1
r
j=1
w
i
(z
k
)w
j
(z
k
)(A
T
i
P
l
A
j
P
i
)
=
r
i=1
w
2
i
(z
k
)(A
T
i
P
l
A
i
P
i
) (16)
+
r
i<j
w
i
(z
k
)w
j
(z
k
)(A
T
i
P
l
A
j
P
i
+A
T
j
P
l
A
i
P
j
)
Since P
i
> 0, we can rewrite P
i
as P
i
= D
i
D
i
, where
D
i
> 0. Then
l
=
r
i=1
w
2
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
+
r
i<j
w
i
(z
k
)w
j
(z
k
)(
A
T
i
D
l
D
l
A
j
P
i
+A
T
j
D
l
D
l
A
i
P
j
)
i=1
w
2
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
+
r
i<j
w
i
(z
k
)w
j
(z
k
)(
A
T
i
D
l
D
l
A
i
P
i
+A
T
j
D
l
D
l
A
j
P
j
)
=
r
i=1
w
2
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
+
r
i<j
w
i
(z
k
)w
j
(z
k
)(
A
T
i
P
l
A
i
P
i
+A
T
j
P
l
A
j
P
j
). (17)
Note that
r
i=1
w
2
i
(z
k
)A
i
+
r
i<j
w
i
(z
k
)w
j
(z
k
)(A
i
+A
j
)
=
r
i=1
w
i
(z
k
)A
i
.
Therefore,
l
r
i=1
w
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
L x
T
k
r
l=1
w
l
(z
k+1
)
_
r
i=1
w
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
_
x
k
.
Since w
l
(z
k+1
) 0, w
i
(z
k
) 0, when (11) holds, L <
0, i.e. system (6) is asymptotically stable.
Remark 1 In Theorem 1, when P
1
= P
2
= ... = P
r
=
P, the fuzzy Lyapunov function is (7. As a result,
the stability condition (11) reduces to (8) of Lemma 1.
Lemma 1 is recovered as a special case of Theorem 1.
Based on the PDC (parallel distributed compensation)
design method, we consider the fuzzy state feedback
controller described by the following form
R
i
c
: if z
1
(k) is M
i
1
, and ..., and z
p
(k) is M
i
p
, then
u
k
= F
i
x
k
, i = 1, 2, ..., r (18)
Applying the same inference method, we obtain the
overall fuzzy control law
u
k
=
r
i=1
w
i
(z
k
)F
i
x
k
(19)
where w
i
(z
k
) is dened in (4) and (5), F
i
mn
are
the local linear state feedback gains.
Substituting (19) into (2) yields
x
k+1
=
r
i=1
r
j=1
w
i
(z
k
)w
j
(z
k
)G
ij
x
k
(20)
where G
ij
= A
i
+B
i
F
j
.
Based on Theorem 1, we have the following results.
Theorem 2 The closed-loop fuzzy system (20) is
asymptotically stable if there exist matrices P
i
> 0(or
P
l
> 0, i, l = 1, 2, ..., r) such that
_
P
i
G
T
ij
P
l
P
l
G
ij
P
l
_
< 0, i, j, l = 1, 2, ..., r. (21)
4 Local state feedback gains
construction
By Theorem 2, the synthesis problem of a PDC fuzzy
controller reduces to nd P
i
and F
j
, such that
_
P
i
(A
i
+B
i
F
j
)
T
P
l
P
l
(A
i
+B
i
F
j
) P
l
_
< 0
i, j, l = 1, 2, ..., r. (22)
The inequalities (22) are bilinear matrix inequali-
ties(BMIs). The BMI problem is not convex in gen-
eral. To construct local state feedback gains F
j
, the
variable reduction lemma will be used.
Lemma 2 ([14]) Given a symmetric matrix
mm
and two matrices P, Q of column dimension
m, consider the problem of nding some matrix of
compatible dimensions such that
+Q
T
T
P +P
T
Q < 0. (23)
This inequality is solvable for if and only if
W
T
P
W
P
< 0 (24)
W
T
Q
W
Q
< 0 (25)
where W
P
and W
Q
are matrices whose columns are
basis for the null space of P and Q, respectively.
By using the expression of (23), the inequalities (22)
can be rewritten as:
il
+P
T
il
F
j
Q+Q
T
F
T
j
P
il
< 0 (26)
where
il
=
_
P
i
A
T
i
P
l
P
l
A
i
P
l
_
(27)
P
il
=
_
0 B
T
i
P
l
(28)
Q =
_
I 0
. (29)
From Lemma 2, (22) holds for some F
j
if
W
T
Pil
il
W
Pil
< 0 (30)
W
T
Q
il
W
Q
< 0 (31)
where W
Pil
and W
Q
are matrices whose columns are
basis for the null space of P
il
and Q.
Hence, by Lemma 2, variables F
j
(j = 1, 2, ..., l) are
eliminated and the solvability condition depends only
on P
i
(or P
l
) and the system parameters.
Inequalities (30) are LMIs. Since P
l
is included in
W
Pil
, it is dicult to solve the LMIs. Note that
P
il
=
_
0 B
T
i
P
l
=
_
0 B
T
i
_
I 0
0 P
l
_
(32)
then
W
Pil
=
_
I 0
0 P
1
l
_
Ker
_
0 B
T
i
(33)
where Ker denotes the null space of a matrix. Let
W
Bi
= KerB
T
i
, thus
Ker
_
0 B
T
i
=
_
I 0
0 W
Bi
_
. (34)
Substituting (33) and (34) into (30) yields
_
P
i
A
T
i
W
Bi
W
T
Bi
A
i
W
T
Bi
P
1
l
W
Bi
_
< 0. (35)
Let X
i
= P
1
i
, (35) is equivalent to
_
X
i
X
i
A
T
i
W
Bi
W
T
Bi
A
i
X
i
W
T
Bi
X
l
W
Bi
_
< 0. (36)
Following the similar analysis procedure of (30), (31)
reduces to a simple form: P
l
> 0, i.e. X
l
> 0. This
constraint is included in the solvability condition of
(22).
Summing up the above discussion, the local feedback
gains construction procedure is given as follows:
Step 1: Solve (36) to get positive denite matrices
X
i
(X
l
), then calculate P
i
(P
l
).
Step 2: Substitute P
i
into (22), then (22)(i, j, l =
1, 2, ..., r) become LMIs in F
j
. If the LMIs (22) are
solvable, the control law obtained from (22) can stabi-
lize the original fuzzy system (2).
5 Numerical example
This example will illustrate the local feedback gains
construction approach.
R
1
: if z
1
(k) is M
1
1
, then x
k+1
= A
1
x
k
+B
1
u
k
R
2
: if z
1
(k) is M
2
1
, then x
k+1
= A
2
x
k
+B
2
u
k
A
1
=
_
0 0.2
1 0.1
_
, B
1
=
_
0
1
_
A
2
=
_
0 0.8
1 1.6
_
, B
2
=
_
0
2
_
The membership functions for M
1
1
and M
2
1
are
M
1
1
=
1
1 + exp(0.5(x
1,k
0.3))
M
2
1
= 1 M
1
1
Following the feedback gains construction procedure
given in Section 4, rst, we obtain a feasible solution
to (36).
X
1
=
_
36.0680 0
0 34.2418
_
X
2
=
_
36.0680 0
0 19.4612
_
.
Then
P
1
=
_
0.0277 0
0 0.0292
_
P
2
=
_
0.0277 0
0 0.0514
_
.
Furthermore, optimization computation results show
that (22)(i, j, l = 1, 2, ..., r) are solvable.
F
1
=
_
0.6166 0.5949
F
2
=
_
0.6298 0.5737
.
Figure 1 shows the simulation results when the initial
condition of the fuzzy system is
_
x
1,k
x
2,k
T
=
_
0.8 2.7
T
. (37)
It can be noted that the original fuzzy system is asymp-
totically stable under the fuzzy state feedback control
law (19).
6 Conclusion
This paper presents new analysis and design approach
for discrete-time fuzzy systems. Based on fuzzy Lya-
punov function, a new stability condition is obtained.
In this condition, the dierent positive denite matri-
ces which are relative to dierent fuzzy rules are ag-
gregated in one inequality. The stability condition is
more relaxed than the previous results. No assumption
is made for the membership functions. The PDC local
feedback gains construction procedure is simple and
can be solved eectively by optimization computation
tools.
References
[1] S.G. Cao, N.W. Rees and G. Feng, Analysis and
design for a class of complex control systems, PartII:
Fuzzy controller design, Automatica, vol. 33, no. 6,
pp. 1029-1040, 1997.
0 5 10 15 20 25 30
2
1.5
1
0.5
0
0.5
k
x
1
0 5 10 15 20 25 30
3
2.5
2
1.5
1
0.5
0
0.5
k
x
2
Figure 1: The state response of the fuzzy system via fuzzy
state feedback control (19)
[2] S.G. Cao, N.W. Rees and G. Feng, Further results
about quadratic stability of continuous-time fuzzy
control systems, International Journal of Systems
Science, vol. 28, pp. 397-404, 1997.
[3] Z.X. Han, G. Feng, B.L. Walcott and J. Ma, Dy-
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2000.
[4] E.T. Kim, and H.J. Lee, New approaches to relaxed
quadratic stability condition of fuzzy control systems,
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533, 2000.
[5] K.R. Lee, E.T. Jeung, and H.B. Park, Robust fuzzy
H