Search results for: Controller robustness.

Authors: Sudeept Mohan, Surekha Bhanot

Abstract:

The problem of manipulator control is a highly complex problem of controlling a system which is multi-input, multioutput, non-linear and time variant. In this paper some adaptive fuzzy, and a new hybrid fuzzy control algorithm have been comparatively evaluated through simulations, for manipulator control. The adaptive fuzzy controllers consist of self-organizing, self-tuning, and coarse/fine adaptive fuzzy schemes. These controllers are tested for different trajectories and for varying manipulator parameters through simulations. Various performance indices like the RMS error, steady state error and maximum error are used for comparison. It is observed that the self-organizing fuzzy controller gives the best performance. The proposed hybrid fuzzy plus integral error controller also performs remarkably well, given its simple structure.

Keywords: Hybrid fuzzy, Self-organizing, Self-tuning, Trajectory tracking.

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Authors: Hassan Baghgar Bostan Abad, Ali Yazdian Varjani, Taheri Asghar

Abstract:

Variable speed drives are growing and varying. Drives expanse depend on progress in different part of science like power system, microelectronic, control methods, and so on. Artificial intelligent contains hard computation and soft computation. Artificial intelligent has found high application in most nonlinear systems same as motors drive. Because it has intelligence like human but there are no sentimental against human like angriness and.... Artificial intelligent is used for various points like approximation, control, and monitoring. Because artificial intelligent techniques can use as controller for any system without requirement to system mathematical model, it has been used in electrical drive control. With this manner, efficiency and reliability of drives increase and volume, weight and cost of them decrease.

Keywords: Artificial intelligent, electrical motor, intelligent drive and control,

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Authors: M. Ouassaid, A. Nejmi, M. Cherkaoui, M. Maaroufi

Abstract:

The very nonlinear nature of the generator and system behaviour following a severe disturbance precludes the use of classical linear control technique. In this paper, a new approach of nonlinear control is proposed for transient and steady state stability analysis of a synchronous generator. The control law of the generator excitation is derived from the basis of Lyapunov stability criterion. The overall stability of the system is shown using Lyapunov technique. The application of the proposed controller to simulated generator excitation control under a large sudden fault and wide range of operating conditions demonstrates that the new control strategy is superior to conventional automatic voltage regulator (AVR), and show very promising results.

Keywords: Excitation control, Lyapunov technique, non linearcontrol, synchronous generator, transient stability, voltage regulation.

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Authors: M. Sedighizadeh, A. Rezazadeh

Abstract:

In this paper a PID control strategy using neural network adaptive RASP1 wavelet for WECS-s control is proposed. It is based on single layer feedforward neural networks with hidden nodes of adaptive RASP1 wavelet functions controller and an infinite impulse response (IIR) recurrent structure. The IIR is combined by cascading to the network to provide double local structure resulting in improving speed of learning. This particular neuro PID controller assumes a certain model structure to approximately identify the system dynamics of the unknown plant (WECS-s) and generate the control signal. The results are applied to a typical turbine/generator pair, showing the feasibility of the proposed solution.

Keywords: Adaptive PID Control, RASP1 Wavelets, WindEnergy Conversion Systems.

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Authors: N. Moghadam, H. Sadeghi

Abstract:

In this paper a novel scheme for watermarking digital audio during its compression to MPEG-1 Layer III format is proposed. For this purpose we slightly modify some of the selected MDCT coefficients, which are used during MPEG audio compression procedure. Due to the possibility of modifying different MDCT coefficients, there will be different choices for embedding the watermark into audio data, considering robustness and transparency factors. Our proposed method uses a genetic algorithm to select the best coefficients to embed the watermark. This genetic selection is done according to the parameters that are extracted from the perceptual content of the audio to optimize the robustness and transparency of the watermark. On the other hand the watermark security is increased due to the random nature of the genetic selection. The information of the selected MDCT coefficients that carry the watermark bits, are saves in a database for future extraction of the watermark. The proposed method is suitable for online MP3 stores to pursue illegal copies of musical artworks. Experimental results show that the detection ratio of the watermarks at the bitrate of 128kbps remains above 90% while the inaudibility of the watermark is preserved.

Keywords: Content-Based Audio Watermarking, Genetic AudioWatermarking.

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Authors: R. Prakash, B. Meenakshipriya, R. Kumaravelan

Abstract:

This paper presents modeling and simulation of Grid Connected Photovoltaic (PV) system by using improved mathematical model. The model is used to study different parameter variations and effects on the PV array including operating temperature and solar irradiation level. In this paper stepped P&O algorithm is proposed for MPPT control. This algorithm will identify the suitable duty ratio in which the DC-DC converter should be operated to maximize the power output. Photo voltaic array with proposed stepped P&O-MPPT controller can operate in the maximum power point for the whole range of solar data (irradiance and temperature).

Keywords: Photovoltaic (PV), Maximum Power Point Tracking (MPPT), Boost converter, Stepped Perturb & Observe method (Stepped P&O).

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Authors: Jasmin Velagic, Nedim Osmic, Bakir Lacevic

Abstract:

In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Keywords: Mobile robot, kinematic model, neural network, motion control, adaptive learning rate.

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Authors: Rajlaxmi Chouhan, Pritee Khanna

Abstract:

In this manuscript, a wavelet-based blind watermarking scheme has been proposed as a means to provide security to authenticity of a fingerprint. The information used for identification or verification of a fingerprint mainly lies in its minutiae. By robust watermarking of the minutiae in the fingerprint image itself, the useful information can be extracted accurately even if the fingerprint is severely degraded. The minutiae are converted in a binary watermark and embedding these watermarks in the detail regions increases the robustness of watermarking, at little to no additional impact on image quality. It has been experimentally shown that when the minutiae is embedded into wavelet detail coefficients of a fingerprint image in spread spectrum fashion using a pseudorandom sequence, the robustness is observed to have a proportional response while perceptual invisibility has an inversely proportional response to amplification factor “K". The DWT-based technique has been found to be very robust against noises, geometrical distortions filtering and JPEG compression attacks and is also found to give remarkably better performance than DCT-based technique in terms of correlation coefficient and number of erroneous minutiae.

Keywords: Fingerprint watermarking, minutiae, discrete wavelet transform, PN sequence

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Authors: A. Ghodbane, M. Saad, J.-F. Boland, C. Thibeault

Abstract:

Historically, actuators’ redundancy was used to deal with faults occurring suddenly in flight systems. This technique was generally expensive, time consuming and involves increased weight and space in the system. Therefore, nowadays, the on-line fault diagnosis of actuators and accommodation plays a major role in the design of avionic systems. These approaches, known as Fault Tolerant Flight Control systems (FTFCs) are able to adapt to such sudden faults while keeping avionics systems lighter and less expensive. In this paper, a (FTFC) system based on the Geometric Approach and a Reconfigurable Flight Control (RFC) are presented. The Geometric approach is used for cosmic ray fault reconstruction, while Sliding Mode Control (SMC) based on Lyapunov stability theory is designed for the reconfiguration of the controller in order to compensate the fault effect. Matlab®/Simulink® simulations are performed to illustrate the effectiveness and robustness of the proposed flight control system against actuators’ faulty signal caused by cosmic rays. The results demonstrate the successful real-time implementation of the proposed FTFC system on a non-linear 6 DOF aircraft model.

Keywords: Actuators’ faults, Fault detection and diagnosis, Fault tolerant flight control, Sliding mode control, Geometric approach for fault reconstruction, Lyapunov stability.

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Authors: Devdutt

Abstract:

In this paper, passenger seat vibration control of an active quarter car model under random road excitations is considered. The designed ANFIS and Summing ANFIS PID controllers are assembled in primary suspension system of quarter car model. Simulation work is performed in time and frequency domain to obtain passenger seat acceleration and displacement responses. Simulation results show that Summing ANFIS PID based controller is highly suitable to suppress the road induced vibrations in quarter car model to achieve desired passenger ride comfort and safety compared to ANFIS and passive system.

Keywords: Quarter car model, Active suspension system, Summing ANFIS PID controller, Passenger ride comfort.

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Authors: Ekprasit Promtun, Sridhar Seshagiri

Abstract:

This paper considers the control of the longitudinal flight dynamics of an F-16 aircraft. The primary design objective is model-following of the pitch rate q, which is the preferred system for aircraft approach and landing. Regulation of the aircraft velocity V (or the Mach-hold autopilot) is also considered, but as a secondary objective. The problem is challenging because the system is nonlinear, and also non-affine in the input. A sliding mode controller is designed for the pitch rate, that exploits the modal decomposition of the linearized dynamics into its short-period and phugoid approximations. The inherent robustness of the SMC design provides a convenient way to design controllers without gain scheduling, with a steady-state response that is comparable to that of a conventional polynomial based gain-scheduled approach with integral control, but with improved transient performance. Integral action is introduced in the sliding mode design using the recently developed technique of “conditional integrators", and it is shown that robust regulation is achieved with asymptotically constant exogenous signals, without degrading the transient response. Through extensive simulation on the nonlinear multiple-input multiple-output (MIMO) longitudinal model of the F-16 aircraft, it is shown that the conditional integrator design outperforms the one based on the conventional linear control, without requiring any scheduling.

Keywords: Sliding-mode Control, Integral Control, Model Following, F-16 Longitudinal Dynamics, Pitch-Rate Control.

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Authors: Almutasim Billa A. Alanazi, Hal S. Tharp

Abstract:

Safe performance and efficient energy consumption are essential factors for designing a control system. This paper presents a reinforcement learning (RL) model that can be applied to control applications to improve safety and reduce energy consumption. As hardware constraints and environmental disturbances are imprecise and unpredictable, conventional control methods may not always be effective in optimizing control designs. However, RL has demonstrated its value in several artificial intelligence (AI) applications, especially in the field of control systems. The proposed model intelligently monitors a system's success by observing the rewards from the environment, with positive rewards counting as a success when the controlled reference is within the desired operating zone. Thus, the model can determine whether the system is safe to continue operating based on the designer/user specifications, which can be adjusted as needed. Additionally, the controller keeps track of energy consumption to improve energy efficiency by enabling the idle mode when the controlled reference is within the desired operating zone, thus reducing the system energy consumption during the controlling operation. Water temperature control for a hydroponic system is taken as a case study for the RL model, adjusting the variance of disturbances to show the model’s robustness and efficiency. On average, the model showed safety improvement by up to 15% and energy efficiency improvements by 35%-40% compared to a traditional RL model.

Keywords: Control system, hydroponics, machine learning, reinforcement learning.

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Authors: Shiuh-Jer Huang, Shin-Ham Lee, Sheam-Chyun Lin

Abstract:

A two wheel inverted pendulum (TWIP) vehicle is built with two hub DC motors for motion control evaluation. Arduino Nano micro-processor is chosen as the control kernel for this electric test plant. Accelerometer and gyroscope sensors are built in to measure the tilt angle and angular velocity of the inverted pendulum vehicle. Since the TWIP has significantly hub motor dead zone and nonlinear system dynamics characteristics, the vehicle system is difficult to control by traditional model based controller. The intelligent model-free fuzzy sliding mode controller (FSMC) was employed as the main control algorithm. Then, intelligent controllers are designed for TWIP balance control, and two wheels synchronization control purposes.

Keywords: Balance control, synchronization control, two wheel inverted pendulum, TWIP.

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Authors: Kaan T. Oner, Ertugrul Cetinsoy, Efe Sirimoglu, Cevdet Hancer, Taylan Ayken, Mustafa Unel

Abstract:

We present our ongoing work on the development of a new quadrotor aerial vehicle which has a tilt-wing mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using Newton-Euler formulation. Linear and nonlinear controllers for the stabilization of attitude of the vehicle and control of its altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide satisfactory performance in achieving desired maneuvers.

Keywords: UAV, VTOL, dynamic model, stabilization, LQR, SMC

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Authors: Vahid Rostami, Omid sojodishijani , Saeed Ebrahimijam, Ali MohsenizanjaniNejad

Abstract:

This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.

Keywords: Robocup , omnidirectional , fuzzy control, soccer robot , intelligent control.

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Authors: P. Karimi, A. H. Khedmati Bazkiaei

Abstract:

The main goal of this study is to test differential neural network as a controller of smart structure and is to enumerate its advantages and disadvantages in comparison with other controllers. In this study, the smart structure has been considered as a Euler Bernoulli cantilever beam and it has been tried that it be under control with the use of vibration neural network resulting from movement. Also, a linear observer has been considered as a reference controller and has been compared its results. The considered vibration charts and the controlled state have been recounted in the final part of this text. The obtained result show that neural observer has better performance in comparison to the implemented linear observer.

Keywords: Smart material, on-line differential artificial neural network, active control, finite element method.

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Authors: Mircea Ivanescu, Nirvana Popescu, Decebal Popescu, Dorin Popescu

Abstract:

This paper addresses the control problem of a class of hyper-redundant arms. In order to avoid discrepancy between the mathematical model and the actual dynamics, the dynamic model with uncertain parameters of this class of manipulators is inferred. A procedure to design a feedback controller which stabilizes the uncertain system has been proposed. A PD boundary control algorithm is used in order to control the desired position of the manipulator. This controller is easy to implement from the point of view of measuring techniques and actuation. Numerical simulations verify the effectiveness of the presented methods. In order to verify the suitability of the control algorithm, a platform with a 3D flexible manipulator has been employed for testing. Experimental tests on this platform illustrate the applications of the techniques developed in the paper.

Keywords: Distributed model, flexible manipulator, observer, robot control.

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Authors: S.F. Faisal, A.H.M.A. Rahim, J.M. Bakhashwain

Abstract:

Design of a fixed parameter robust STATCOM controller for a multi-machine power system through an H-? based loop-shaping procedure is presented. The trial and error part of the graphical loop-shaping procedure has been eliminated by embedding a particle swarm optimization (PSO) technique in the design loop. Robust controllers were designed considering the detailed dynamics of the multi-machine system and results were compared with reduced order models. The robust strategy employing loop-shaping and PSO algorithms was observed to provide very good damping profile for a wide range of operation and for various disturbance conditions. 

Keywords: STATCOM, Robust control, Power system damping, Particle Swarm Optimization, Loop-shaping.

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Authors: Chin-Yin Chen, Chi-Cheng Cheng

Abstract:

This paper aims at to develop a robust optimization methodology for the mechatronic modules of machine tools by considering all important characteristics from all structural and control domains in one single process. The relationship between these two domains is strongly coupled. In order to reduce the disturbance caused by parameters in either one, the mechanical and controller design domains need to be integrated. Therefore, the concurrent integrated design method Design For Control (DFC), will be employed in this paper. In this connect, it is not only applied to achieve minimal power consumption but also enhance structural performance and system response at same time. To investigate the method for integrated optimization, a mechatronic feed drive system of the machine tools is used as a design platform. Pro/Engineer and AnSys are first used to build the 3D model to analyze and design structure parameters such as elastic deformation, nature frequency and component size, based on their effects and sensitivities to the structure. In addition, the robust controller,based on Quantitative Feedback Theory (QFT), will be applied to determine proper control parameters for the controller. Therefore, overall physical properties of the machine tool will be obtained in the initial stage. Finally, the technology of design for control will be carried out to modify the structural and control parameters to achieve overall system performance. Hence, the corresponding productivity is expected to be greatly improved.

Keywords: Machine tools, integrated structure and control design, design for control, multilevel decomposition, quantitative feedback theory.

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Authors: Djilani Kobibi Youcef Islam, Hadjeri Samir, Djehaf Mohamed Abdeldjalil

Abstract:

The Flexible AC Transmission System (FACTS) technology is a new advanced solution that increases the reliability and provides more flexibility, controllability, and stability of a power system. The Unified Power Flow Controller (UPFC), as the most versatile FACTS device for regulating power flow, is able to control respectively transmission line real power, reactive power, and node voltage. The main purpose of this paper is to analyze the effect of the UPFC on the load flow, the power losses, and the voltage stability using NEPLAN software modules, Newton-Raphson load flow is used for the power flow analysis and the modal analysis is used for the study of the voltage stability. The simulation was carried out on the IEEE 14-bus test system.

Keywords: FACTS, load flow, modal analysis, UPFC, voltage stability.

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Authors: Sidshchadhaa Aumted, Shuhei Shiina, Hiroshi Takami

Abstract:

In this paper, we propose an advanced ILQ control for the buck-converter via two-degrees of freedom servo-system. Our presented strategy is based on Inverse Linear Quadratic (ILQ) servo-system controller without solving Riccati-s equation directly. The optimal controller of the current and voltage control system is designed. The stability and robust control are analyzed. A conscious and persistent effort has been made to improve ILQ control via two-degrees of freedom guarantees the optimal gains on the basis of polynomial pole assignment, which our results of the proposed strategy shows that the advanced ILQ control can be controlled independently the step response and the disturbance response by appending a feed-forward compensator.

Keywords: Optimal voltage control, inverse LQ design method, second order polynomial, two-degrees of freedom.

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Authors: Aurobi Das, V. Balakrishnan

Abstract:

This paper focuses on the integration of hybrid renewable energy resources available in remote isolated islands of Sundarban-24 Parganas-South of Eastern part of India to National Grid of conventional power supply to give a Smart-Grid scenario. Before grid-integration, feasibility of optimization of hybrid renewable energy system is monitored through an Intelligent Controller proposed to be installed at Moushuni Island of Sundarban. The objective is to ensure the reliability and efficiency of the system to optimize the utilization of the hybrid renewable energy sources and also a proposition of how theses isolated Hybrid Renewable Energy Systems at remote islands can be grid-connected is analyzed towards vision of green smart-grid.

Keywords: Intelligent controller, hybrid renewable, solar photo voltaic, smart-grid.

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Authors: Ahmed Sh. Khusheef, Ganesh Kothapalli, Majid Tolouei-Rad

Abstract:

Utilization of various sensors has made it possible to extend capabilities of industrial robots. Among these are vision sensors that are used for providing visual information to assist robot controllers. This paper presents a method of integrating a vision system and a simulation program with an industrial robot. The vision system is employed to detect a target object and compute its location in the robot environment. Then, the target object-s information is sent to the robot controller via parallel communication port. The robot controller uses the extracted object information and the simulation program to control the robot arm for approaching, grasping and relocating the object. This paper presents technical details of system components and describes the methodology used for this integration. It also provides a case study to prove the validity of the methodology developed.

Keywords: industrial robot, integration, simulation, vision system

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Authors: Jung–Min Yang

Abstract:

Solvability of the model matching problem for input/output switched asynchronous sequential machines is discussed in this paper. The control objective is to determine the existence condition and design algorithm for a corrective controller that can match the stable-state behavior of the closed-loop system to that of a reference model. Switching operations and correction procedures are incorporated using output feedback so that the controlled switched machine can show the desired input/output behavior. A matrix expression is presented to address reachability of switched asynchronous sequential machines with output equivalence with respect to a model. The presented reachability condition for the controller design is validated in a simple example.

Keywords: Asynchronous sequential machines, corrective control, model matching, input/output control.

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Authors: Igor Astrov, Mikhail Pikkov, Rein Paluoja

Abstract:

This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for vectored thrust aerial vehicle (VTAV). With the SA strategy, we proposed a flight control procedure to address the dynamics variation and performance requirement difference of flight trajectory for an unmanned helicopter model with vectored thrust configuration. This control strategy for chosen model of VTAV has been verified by simulation of take-off and forward maneuvers using software package Simulink and demonstrated good performance for fast stabilization of motors, consequently, fast SA with economy in energy can be asserted during search-and-rescue operations.

Keywords: Neural network predictive controller, situational awareness, vectored thrust aerial vehicle.

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Authors: Hanny H. Tumbelaka, Masafumi Miyatake

Abstract:

This paper proposes a three-phase four-wire currentcontrolled Voltage Source Inverter (CC-VSI) for both power quality improvement and PV energy extraction. For power quality improvement, the CC-VSI works as a grid current-controlling shunt active power filter to compensate for harmonic and reactive power of loads. Then, the PV array is coupled to the DC bus of the CC-VSI and supplies active power to the grid. The MPPT controller employs the particle swarm optimization technique. The output of the MPPT controller is a DC voltage that determines the DC-bus voltage according to PV maximum power. The PSO method is simple and effective especially for a partially shaded PV array. From computer simulation results, it proves that grid currents are sinusoidal and inphase with grid voltages, while the PV maximum active power is delivered to loads.

Keywords: Active Power Filter, MPPT, PV Energy Conversion.

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Authors: Marco Soares dos Santos, Jorge Augusto Ferreira, Camila Nicola Boeri, Fernando Neto da Silva

Abstract:

The present paper proposes high performance nonlinear force controllers for a servopneumatic real-time fatigue test machine. A CompactRIO® controller was used, being fully programmed using LabVIEW language. Fuzzy logic control algorithms were evaluated to tune the integral and derivative components in the development of hybrid controllers, namely a FLC P and a hybrid FLC PID real-time-based controllers. Their behaviours were described by using state diagrams. The main contribution is to ensure a smooth transition between control states, avoiding discrete transitions in controller outputs. Steady-state errors lower than 1.5 N were reached, without retuning the controllers. Good results were also obtained for sinusoidal tracking tasks from 1/¤Ç to 8/¤Ç Hz.

Keywords: Hybrid Fuzzy Selecting, Control, Range Controllers, Servopneumatic Fatigue System.

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Authors: Nasser Mohamed Ramli, Mohamad Syafiq Mohamad

Abstract:

Many types of controllers were applied on the continuous stirred tank reactor (CSTR) unit to control the temperature. In this research paper, Proportional-Integral-Derivative (PID) controller are compared with Fuzzy Logic controller for temperature control of CSTR. The control system for temperature non-isothermal of a CSTR will produce a stable response curve to its set point temperature. A mathematical model of a CSTR using the most general operating condition was developed through a set of differential equations into S-function using MATLAB. The reactor model and S-function are developed using m.file. After developing the S-function of CSTR model, User-Defined functions are used to link to SIMULINK file. Results that are obtained from simulation and temperature control were better when using Fuzzy logic control compared to PID control.

Keywords: CSTR, temperature, PID, fuzzy logic.

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Authors: V. K. Singh, P. K. Padhy

Abstract:

This paper describes identification of the two poles unstable SOPDT process, especially with large time delay. A new modified relay feedback identification method for two poles unstable SOPDT process is proposed. Furthermore, for the two poles unstable SOPDT process, an additional Derivative controller is incorporated parallel with relay to relax the constraint on the ratio of delay to the unstable time constant, so that the exact model parameters of unstable processes can be identified. To cope with measurement noise in practice, a low pass filter is suggested to get denoised output signal toimprove the exactness of model parameter of unstable process. PID Lead-lag tuning formulas are derived for two poles unstable (SOPDT) processes based on IMC principle. Simulation example illustrates the effectiveness and the simplicity of the proposed identification and control method.

Keywords: IMC structure, PID Lead-lag controller, Relayfeedback, SOPDT

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Authors: F. Khaber, K. Zehar, A. Hamzaoui

Abstract:

In this paper, we introduce a robust state feedback controller design using Linear Matrix Inequalities (LMIs) and guaranteed cost approach for Takagi-Sugeno fuzzy systems. The purpose on this work is to establish a systematic method to design controllers for a class of uncertain linear and non linear systems. Our approach utilizes a certain type of fuzzy systems that are based on Takagi-Sugeno (T-S) fuzzy models to approximate nonlinear systems. We use a robust control methodology to design controllers. This method not only guarantees stability, but also minimizes an upper bound on a linear quadratic performance measure. A simulation example is presented to show the effectiveness of this method.

Keywords: Takagi-Sugeno fuzzy model, state feedback, linear matrix inequalities, robust stability.

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