Design of a Takagi-Sugeno Fuzzy Regulator for a Set of Operation Points

Figure 6

Position (𝑦(𝑡)=𝑥₁(𝑡)) and velocity (𝑥₂(𝑡)) of the controlled system for 𝑦₀∈[0.04,0.11], considering 𝑦₀=0.1 m, 0.05 m, and 0.08 m for 𝑡∈[0,1),𝑡∈[1,2), and 𝑡≥2 s, respectively.

(a)

(b)