A Simplified Output Regulator for a Class of Takagi-Sugeno Fuzzy Models

<div>(a) Membership functions corresponding to position (1,1) of <svg height="12.6917pt" id="M278" style="vertical-align:-3.40337pt" version="1.1" viewbox="-0.0498162 -9.28833 44.7142 12.6917" width="44.7142pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M546 97L529 123C499 91 459 65 450 65C443 65 439 73 445 106C468 226 496 341 523 451H513L436 424C423 357 412 311 403 276C356 195 245 59 190 59C165 59 158 99 166 135L236 445L227 451L152 428L60 18C43 -58 24 -145 24 -183C24 -237 43 -257 66 -257C96 -257 123 -236 130 -224L129 -216C115 -205 96 -156 96 -102C96 -57 105 -7 113 26H115C127 -1 137 -12 158 -12S198 -5 230 19C284 60 332 117 385 186H387C381 154 378 142 370 107C347 1 367 -12 388 -12C422 -12 492 32 546 97Z" id="g50-234"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="564" vert-adv-y="564"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.007,3.001)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,11.953,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,16.607,0)"><path d="M698 334C698 397 680 451 655 451C627 451 602 424 602 397C602 389 605 383 614 371C622 360 624 340 624 317C624 161 546 47 458 47C419 47 389 69 389 125C389 142 391 162 397 185L457 430L451 435L380 421L315 164C301 107 266 47 222 47C182 47 153 69 153 126C153 137 157 162 161 185C166 214 179 265 197 334C203 358 208 385 208 407C208 433 201 451 176 451C124 451 64 404 24 348L44 320C86 366 113 382 121 382C126 382 128 381 128 374C128 368 126 356 122 341C102 266 88 204 81 164C77 143 73 121 73 107C73 23 131 -12 187 -12C234 -12 281 10 322 45C343 5 383 -12 422 -12C559 -12 698 174 698 334Z" id="g50-120"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="722" vert-adv-y="722"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,25.995,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,30.649,0)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,35.16,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,39.814,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g></svg> and <svg height="12.6917pt" id="M279" style="vertical-align:-3.40337pt" version="1.1" viewbox="-0.0498162 -9.28833 44.7142 12.6917" width="44.7142pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M546 97L529 123C499 91 459 65 450 65C443 65 439 73 445 106C468 226 496 341 523 451H513L436 424C423 357 412 311 403 276C356 195 245 59 190 59C165 59 158 99 166 135L236 445L227 451L152 428L60 18C43 -58 24 -145 24 -183C24 -237 43 -257 66 -257C96 -257 123 -236 130 -224L129 -216C115 -205 96 -156 96 -102C96 -57 105 -7 113 26H115C127 -1 137 -12 158 -12S198 -5 230 19C284 60 332 117 385 186H387C381 154 378 142 370 107C347 1 367 -12 388 -12C422 -12 492 32 546 97Z" id="g50-234"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="564" vert-adv-y="564"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.007,3.001)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,11.953,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,16.607,0)"><path d="M698 334C698 397 680 451 655 451C627 451 602 424 602 397C602 389 605 383 614 371C622 360 624 340 624 317C624 161 546 47 458 47C419 47 389 69 389 125C389 142 391 162 397 185L457 430L451 435L380 421L315 164C301 107 266 47 222 47C182 47 153 69 153 126C153 137 157 162 161 185C166 214 179 265 197 334C203 358 208 385 208 407C208 433 201 451 176 451C124 451 64 404 24 348L44 320C86 366 113 382 121 382C126 382 128 381 128 374C128 368 126 356 122 341C102 266 88 204 81 164C77 143 73 121 73 107C73 23 131 -12 187 -12C234 -12 281 10 322 45C343 5 383 -12 422 -12C559 -12 698 174 698 334Z" id="g50-120"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="722" vert-adv-y="722"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,25.995,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,30.649,0)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,35.16,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,39.814,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g></svg>. (b) Membership functions corresponding to position (2,2) <svg height="12.6917pt" id="M280" style="vertical-align:-3.40337pt" version="1.1" viewbox="-0.0498162 -9.28833 44.7142 12.6917" width="44.7142pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M546 97L529 123C499 91 459 65 450 65C443 65 439 73 445 106C468 226 496 341 523 451H513L436 424C423 357 412 311 403 276C356 195 245 59 190 59C165 59 158 99 166 135L236 445L227 451L152 428L60 18C43 -58 24 -145 24 -183C24 -237 43 -257 66 -257C96 -257 123 -236 130 -224L129 -216C115 -205 96 -156 96 -102C96 -57 105 -7 113 26H115C127 -1 137 -12 158 -12S198 -5 230 19C284 60 332 117 385 186H387C381 154 378 142 370 107C347 1 367 -12 388 -12C422 -12 492 32 546 97Z" id="g50-234"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="564" vert-adv-y="564"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.007,3.001)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,11.953,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,16.607,0)"><path d="M698 334C698 397 680 451 655 451C627 451 602 424 602 397C602 389 605 383 614 371C622 360 624 340 624 317C624 161 546 47 458 47C419 47 389 69 389 125C389 142 391 162 397 185L457 430L451 435L380 421L315 164C301 107 266 47 222 47C182 47 153 69 153 126C153 137 157 162 161 185C166 214 179 265 197 334C203 358 208 385 208 407C208 433 201 451 176 451C124 451 64 404 24 348L44 320C86 366 113 382 121 382C126 382 128 381 128 374C128 368 126 356 122 341C102 266 88 204 81 164C77 143 73 121 73 107C73 23 131 -12 187 -12C234 -12 281 10 322 45C343 5 383 -12 422 -12C559 -12 698 174 698 334Z" id="g50-120"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="722" vert-adv-y="722"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,25.995,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,30.649,0)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,35.16,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,39.814,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g></svg> and <svg height="12.6917pt" id="M281" style="vertical-align:-3.40337pt" version="1.1" viewbox="-0.0498162 -9.28833 44.7142 12.6917" width="44.7142pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M546 97L529 123C499 91 459 65 450 65C443 65 439 73 445 106C468 226 496 341 523 451H513L436 424C423 357 412 311 403 276C356 195 245 59 190 59C165 59 158 99 166 135L236 445L227 451L152 428L60 18C43 -58 24 -145 24 -183C24 -237 43 -257 66 -257C96 -257 123 -236 130 -224L129 -216C115 -205 96 -156 96 -102C96 -57 105 -7 113 26H115C127 -1 137 -12 158 -12S198 -5 230 19C284 60 332 117 385 186H387C381 154 378 142 370 107C347 1 367 -12 388 -12C422 -12 492 32 546 97Z" id="g50-234"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="564" vert-adv-y="564"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.007,3.001)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,11.953,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,16.607,0)"><path d="M698 334C698 397 680 451 655 451C627 451 602 424 602 397C602 389 605 383 614 371C622 360 624 340 624 317C624 161 546 47 458 47C419 47 389 69 389 125C389 142 391 162 397 185L457 430L451 435L380 421L315 164C301 107 266 47 222 47C182 47 153 69 153 126C153 137 157 162 161 185C166 214 179 265 197 334C203 358 208 385 208 407C208 433 201 451 176 451C124 451 64 404 24 348L44 320C86 366 113 382 121 382C126 382 128 381 128 374C128 368 126 356 122 341C102 266 88 204 81 164C77 143 73 121 73 107C73 23 131 -12 187 -12C234 -12 281 10 322 45C343 5 383 -12 422 -12C559 -12 698 174 698 334Z" id="g50-120"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="722" vert-adv-y="722"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,25.995,0)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z" id="g50-41"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,30.649,0)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,35.16,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,39.814,0)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z" id="g50-42"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="358" vert-adv-y="358"></glyph.data></g></svg>.</div>

Mathematical Problems in Engineering

fig10

Figure 10

Figure 10: A Simplified Output Regulator for a Class of Takagi-Sugeno Fuzzy Models 