Robust Switched Control Design for Nonlinear Systems Using Fuzzy Models

Figure 5

State variables of the magnetic levitator (43) and state 𝑥₃ given in (51) using the switched controller (9) (solid line) and the fuzzy controller (5) (dotted line), considering 𝑦₀=0.1m, 𝑦₀=0.04m, and 𝑦₀=0.08m, for 𝑡∈[0,1), 𝑡∈[1,2), and 𝑡≥2, respectively.