Choosing an Adequate Convex Structure for Controller and Observer Gains in Takagi-Sugeno Control Systems

J. L Ortiz , Thierry-Marie Guerra (1) , Víctor Estrada Manzo (1) , Jimmy Lauber (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This work presents a methodology to choose the convex structure for nonlinear gains in approaches based on Takagi-Sugeno models. The proposal faces the problem of numerical complexity in LMI-based approaches within this area; it gives a finer convex structure for controller and observer matrices depending on two criteria: less number of LMI constraints or more decision variables while keeping the same number of LMIs in traditional approaches. The advantages of the proposal are illustrated via numerical examples.

Mots clés: Control systems; Convex structures; Linear matrix inequality; Numerical complexity; Takagi-Sugeno model

Domaines: Automatique / Robotique

J. L Ortiz, Thierry-Marie Guerra, Víctor Estrada Manzo, Jimmy Lauber. Choosing an Adequate Convex Structure for Controller and Observer Gains in Takagi-Sugeno Control Systems. 4th IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in Control (CESCIT 2021), Jul 2021, Valenciennes, France. pp.206-211, ⟨10.1016/j.ifacol.2021.10.035⟩. ⟨hal-03408030⟩