LMI BASED H∞ CONTROLLER DESIGN FOR UNCERTAIN TAKAGI-SUGENO DESCRIPTORS SUBJECT TO EXTERNAL DISTURBANCES

This paper deals with the design of an H∞ fuzzy controller for uncertain T-S fuzzy descriptor with external disturbances. The control scheme is based on the modified PDC control law and an H∞ criterion to attenuate external disturbances. Stability conditions are obtained via a quadratic Lyapunov function and are given in terms of LMI. To illustrate the efficiency of the proposed approach, a design example is provided with the simulation of a planar two degrees of freedom robot.