Guaranteed cost fuzzy tracking control for nonlinear polynomial systems with input saturation

This paper is concerned with the output tracking problem for a class of nonlinear systems represented by polynomial T-S fuzzy model. The input saturation and external disturbances are considered simultaneously. Static output-feedback fuzzy controllers are designed such that the resulting closed-loop system is locally stable and satisfies a regional H∞ performance from the disturbance to tracking error. The guarantee of cost function is also considered during the design procedure. Sufficient conditions ensuring the existence of the desired controllers are obtained in terms of polynomial matrix inequalities, which could be solved by using the sum-of-squares (SOS) tools in Matlab. A numerical example is provided finally to illustrate the effectiveness of the proposed design method.