EXPERIMENTAL VALIDATION OF A NEW ROBUST TRACKING CONTROLLER FOR NONLINEAR SISO PLANTS BASED ON TYPE-II IMC AND TS FUZZY SYSTEMS

Raymundo Cordero García¹; João Onofre Pereira Pinto¹; Jurandir de Oliveira Soares¹; Luigi Galotto Junio¹; Marcela Yumi Villalba Onizuka¹

¹ UFMS

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Resumo

This paper presents a new Fuzzy tracking control technique for nonlinear SISO plants. The Takagi-Sugeno Fuzzy modelling-based control technique is integrated with a type-II internal model controller. This type-II controller is designed for tracking of step and ramp reference, the rejection of step or ramp perturbations and it has robustness against parameter variations, when the plant is a linear systems. In this paper, the structure of the type-II internal model controller is used to define the local controllers used in parallel distributed control. Thus, it is possible to design a robust Fuzzy controller for different operation points. Linear matrix inequalities are used to guarantee closed-loop stability and set the dynamic behaviour of the closed-loop plant. Experimental results using a DC-DC boost converter demonstrate that the proposed Fuzzy controller is robust and can track step, ramp and even for sinusoidal references.

Palavras-chave: Internal model controller; Linear matrix inequalities; Nonlinear plants; Takagi-Sugeno Fuzzy; Tracking