Issues concerning the analysis and implementation of a class of fuzzy controllers

This paper presents some important aspects concerning the analysis and implementation of a piecewise linear (PWL) fuzzy model with universal approximation capability. The main advantages of PWL models are the availability of well-established analysis methods and their suitability for simple hardware and software implementations. As an example, the development of a two-input single-output fuzzy controller is presented. Special attention is paid to the analysis of the system stability using piecewise quadratic Lyapunov functions. In addition, two implementations are addressed: one based on a Digital Signal Processor (DSP) and the other based on a Programmable Logic Device (PLD).