Parameter Optimization of MIMO Fuzzy Optimal Model Predictive Control By APSO

Algorithm 1

FOMPC-APSO algorithm.

Pahse 1. Identification of the model

Step 1. The nonlinear MIMO system is modeled by a TS fuzzy inference system.

Step 2. Identify of parameters using WRLS method.

Pahse 2. Application of Algorithm 1 for each local model

Step 1. The weight parameter is specified.

Step 2. Give the objective function in the form of Eq. (13).

Step 3. Calculate the control law using Eq. (3).

Step 4. Compute that minimize the restricted function (15) using the procedure of Algorithm 2

and find the best particle labeled as .

Step 5. Calculate the control law using (3) According to the optimum values of

Pahse 3. Design the control law via equation (12)