Robust Switched Control Design for Nonlinear Systems Using Fuzzy Models

Figure 7

Position (𝑦(𝑡)=𝑥₁(𝑡)), velocity (𝑥₂(𝑡)), and electric current (𝑖_(𝜎,𝜉)(𝑡)) of the controlled system, considering 𝑦₀=0.08m and 𝑚=0.09Kg, 𝑦₀=0.05m and 𝑚=0.08Kg, and 𝑦₀=0.07m and 𝑚=0.1Kg, for 𝑡∈[0,1),𝑡∈[1,2), and 𝑡≥2, respectively.