Stability Analysis and Control of Discrete-time Fuzzy

Systems: A Fuzzy Lyapunov Function Approach

Yan Wang, Zeng Qi Sun, Fu Chun Sun
National Key Lab of Intelligence Technology and Systems
Department of Computer Science, Tsinghua University
Beijing 100084, P. R. China
e-mail: w-yan, szq-dcs, chunsheng@mail.tsinghua.edu.cn
Abstract
In this paper, a fuzzy Lyapunov function approach is
applied to discrete-time fuzzy control system. Then, a
new sucient condition for the stability of the open-
loop system is proposed. In addition, the fuzzy PDC
controller design problem is reduced to a series of
BMIs. By variable reduction lemma, the local state
feedback gains are constructed. At last, simulation
result is given to show the design procedure of the pro-
posed method.
Keywords: Fuzzy Lyapunov function, discrete-time
T-S fuzzy system, asymptotic stability, bilinear matrix
inequality, linear matrix inequality
1 Introduction
In recent results ([3], [11], [12], etc.), the Takagi-Sugeno
fuzzy model is widely used to analyze the stability of
fuzzy systems. By Takagi-Sugeno fuzzy model, the
nonlinear behavior of the system is described by a set
of if-then rules which give local linear state space mod-
els. The linear control theory can be used to stabilize
the local subsystems based on a common Lyapunov
function approach. A drawback of previous works ([7],
[8]) is that this approach requires to nd a common
positive denite matrix solution for r subsystems. Cao
et al. ([1], [2]) gave another method which converted
the stability analysis of a fuzzy control system to the
stability analysis of a set of linear uncertain systems.
LMI-based techniques solved the common positive def-
inite matrix solution problem eciently and gave op-
timal control law ([4], [9], [5], [13]). Tuan et al. ([15])
applied parameterized linear matrix inequality(PLMI)
1
The work was supported by the National Key Project for
Basic Research of China (Grant No: G2002cb312205), the Na-
tional Science Foundation for Key Technical Research of China
(Grant No: 90205008), the National Science Foundation of
China (Grant No: 60174018 and 60084002), the National Excel-
lent Doctoral Dissertation Foundation (Grant No: 200041) and
China Postdoctoral Science Foundation. Corresponding author:
Yan Wang.
techniques to design fuzzy control system. Their sta-
bility results are based on a common positive denite
matrix solution, which meet the same disadvantage of
the previous works.
The more the number of the fuzzy rules, the less the
possibility of nding a common positive denite matrix
solution, even if LMI techniques are applied. Recently,
Tanaka et al. ([10]) presented fuzzy Lyapunov function
to analyze the stability of continuous open-loop fuzzy
systems, the fuzzy Lyapunov function shares the same
membership functions with the T-S fuzzy model of a
system. The problem of the time derivative of premise
membership functions was discussed by Tanaka et al.
in [10].
Discrete-time systems exist tremendously in social sys-
tems, time series analysis and other real systems. In
this paper, we discuss the stability analysis and design
problem for discrete-time T-S fuzzy system based on
fuzzy Lyapunov function approach. No assumption for
the premise membership functions is made in this ap-
proach. The local state feedback gains are obtained
by separating BMIs into two series of LMIs. In the
LMI conditions, the dierent positive denite matrices
which are relative to dierent fuzzy rules are aggre-
gated in one inequality. The result is more relaxed
than the previous works([4], [9]).
This paper is organized as follows. In the next section,
we discuss the discrete-time fuzzy system and intro-
duce basic results about the stability of T-S fuzzy sys-
tem. In Section 3, the stability of discrete-time fuzzy
systems is analyzed based on the fuzzy Lyapunov func-
tion. In Section 4, the PDC local feedback gains de-
sign approach is derived by variable reduction lemma.
In Section 5, numerical example is given to illustrate
the design procedure and performance of the proposed
method. Finally, concluding remarks are oered in
Section 6.
2 Discrete-time T-S fuzzy system and
basic results
Considering the following discrete-time T-S fuzzy sys-
tem, the ith fuzzy rule can be represented as follows
R
i
: if z
1
(k) is M
i
1
, and ..., and z
p
(k) is M
i
p
, then
x(k + 1) = A
i
x(k) +B
i
u(k), i = 1, 2, ..., r (1)
where r is the number of the fuzzy rules. M
i
j
(j =
1, 2, ..., p) are the fuzzy sets. R
i
denotes the ith fuzzy
rule. z(k) = [z
1
(k) z
2
(k) ... z
p
(k)] are premise vari-
ables, the premise variables are some components of
x(k) and other measurable variables. x(k) is the state,
x(k) = [x
1
(k) x
2
(k) ... x
n
(k)]
T
; u(k) is the control in-
put. The matrices A
i
, B
i
are of appropriate dimen-
sions. The local linear system of each fuzzy rule is
called subsystem. For simplicity, we will use x
k
, u
k
and z
k
instead of x(k), u(k) and z(k) from now.
By taking a standard fuzzy inference strategy, i.e., us-
ing a singleton fuzzier, product fuzzy inference and
center average defuzzier, the nal discrete-time fuzzy
system is inferred as follows:
x
k+1
=
r

i=1
w
i
(z
k
)
_
A
i
x
k
+B
i
u
k
_
= A(z
k
)x
k
+B(z
k
)u
k
(2)
where
A(z
k
) =
r

i=1
w
i
(z
k
)A
i
, B(z
k
) =
r

i=1
w
i
(z
k
)B
i
(3)
w
i
(z
k
) =

p
j=1
M
i
j
(z
j
(k))

r
i=1

p
j=1
M
i
j
(z
j
(k))
(4)
M
i
j
(z
j
(k)) is the grade of membership function of z
j
(k)
in M
i
j
.
w
i
(z
k
) 0,
r

i=1
w
i
(z
k
) = 1. (5)
The open-loop model of (1) is given by
x
k+1
=
r

i=1
w
i
(z
k
)A
i
x
k
. (6)
In [6], [7], [9], [12] etc., the following Lyapunov function
is considered for the stability analysis of fuzzy system
(2)
v(x
k
) = x
T
k
Px
k
. (7)
The basic Theorem based on the Lyapunov function is
given as follows.
Lemma 1 ([7]) The equilibrium of the fuzzy system
(6) is globally asymptotically stable if there exists a
common positive denite matrix P for all the subsys-
tems such that
A
T
i
PA
i
P < 0 (8)
for i = 1, 2, ..., r.
According to Lemma 1, it is dicult to nd a common
positive denite matrix solution for (8) when the num-
ber of the fuzzy rules is large, sometimes this condition
can not be satised.
In the next section, a new stability condition will be
obtained with fuzzy Lyapunov function.
3 Stability analysis based on fuzzy
Lyapunov function approach
Consider a candidate of discrete-time fuzzy Lyapunov
function for system (6)
v(x
k
, z
k
) = x
T
k
P(z
k
)x
k
, P(z
k
) =
r

i=1
w
i
(z
k
)P
i
(9)
where P
i
(i = 1, 2, ..., r) are positive denite matrices.
Hence, under zero initial condition, this function sat-
ises:
(a) v(0) = 0;
(b) v(x
k
, z
k
) > 0 for x
k
= 0;
(c) v(x
k
, z
k
) approaches innity as x
k
.
Applying Lyapunov stability theory, if the following
inequality holds
L = v(x
k+1
, z
k+1
) v(x
k
, z
k
) < 0 (10)
along the solution of (6), then system (6) is asymptot-
ically stable and v(x
k
, z
k
) is a Lyapunov function.
Clearly, the fuzzy Lyapunov function is a parameter-
dependent Lyapunov function, it shares the same
weighted value w
i
(k) with the ith fuzzy rule of the
model.
Theorem 1 For the discrete-time fuzzy system (6), if
there exist positive denite matrices P
i
(or P
l
) such that
the following inequality
A
T
i
P
l
A
i
P
i
< 0 (11)
holds for i, l = 1, 2, ..., r, system (6) is asymptotically
stable.
Proof. Select the fuzzy Lyapunov function as in (9)
and dene L in (10), then
L
= x
T
k+1
P(z
k+1
)x
k+1
x
T
k
P(z
k
)x
k
= x
T
k
_
A
T
(z
k
)
_
r

i=1
w
i
(z
k+1
)P
i
_
A(z
k
) P(z
k
)
_
x
k
. (12)
From (4) and (5), it can be easily found that
w
i
(z
k+1
) 0,
r

i=1
w
i
(z
k+1
) = 1. (13)
By applying (5) and (13), we have
P(z
k
)
=
r

i=1
w
i
(z
k
)P
i
=
r

i=1
r

l=1
r

j=1
w
i
(z
k
)w
l
(z
k+1
)w
j
(z
k
)P
i
. (14)
Hence,
L = x
T
k
r

i=1
r

l=1
r

j=1
w
i
(z
k
)w
l
(z
k+1
)w
j
(z
k
)
(A
T
i
P
l
A
j
P
i
)x
k
= x
T
k
r

l=1
w
l
(z
k+1
)
l
x
k
(15)
where

l
=
r

i=1
r

j=1
w
i
(z
k
)w
j
(z
k
)(A
T
i
P
l
A
j
P
i
)
=
r

i=1
w
2
i
(z
k
)(A
T
i
P
l
A
i
P
i
) (16)
+
r

i<j
w
i
(z
k
)w
j
(z
k
)(A
T
i
P
l
A
j
P
i
+A
T
j
P
l
A
i
P
j
)
Since P
i
> 0, we can rewrite P
i
as P
i
= D
i
D
i
, where
D
i
> 0. Then

l
=
r

i=1
w
2
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
+
r

i<j
w
i
(z
k
)w
j
(z
k
)(
A
T
i
D
l
D
l
A
j
P
i
+A
T
j
D
l
D
l
A
i
P
j
)

i=1
w
2
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
+
r

i<j
w
i
(z
k
)w
j
(z
k
)(
A
T
i
D
l
D
l
A
i
P
i
+A
T
j
D
l
D
l
A
j
P
j
)
=
r

i=1
w
2
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
+
r

i<j
w
i
(z
k
)w
j
(z
k
)(
A
T
i
P
l
A
i
P
i
+A
T
j
P
l
A
j
P
j
). (17)
Note that
r

i=1
w
2
i
(z
k
)A
i
+
r

i<j
w
i
(z
k
)w
j
(z
k
)(A
i
+A
j
)
=
r

i=1
w
i
(z
k
)A
i
.
Therefore,

l

r

i=1
w
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
L x
T
k
r

l=1
w
l
(z
k+1
)
_
r

i=1
w
i
(z
k
)(A
T
i
P
l
A
i
P
i
)
_
x
k
.
Since w
l
(z
k+1
) 0, w
i
(z
k
) 0, when (11) holds, L <
0, i.e. system (6) is asymptotically stable.
Remark 1 In Theorem 1, when P
1
= P
2
= ... = P
r
=
P, the fuzzy Lyapunov function is (7. As a result,
the stability condition (11) reduces to (8) of Lemma 1.
Lemma 1 is recovered as a special case of Theorem 1.
Based on the PDC (parallel distributed compensation)
design method, we consider the fuzzy state feedback
controller described by the following form
R
i
c
: if z
1
(k) is M
i
1
, and ..., and z
p
(k) is M
i
p
, then
u
k
= F
i
x
k
, i = 1, 2, ..., r (18)
Applying the same inference method, we obtain the
overall fuzzy control law
u
k
=
r

i=1
w
i
(z
k
)F
i
x
k
(19)
where w
i
(z
k
) is dened in (4) and (5), F
i

mn
are
the local linear state feedback gains.
Substituting (19) into (2) yields
x
k+1
=
r

i=1
r

j=1
w
i
(z
k
)w
j
(z
k
)G
ij
x
k
(20)
where G
ij
= A
i
+B
i
F
j
.
Based on Theorem 1, we have the following results.
Theorem 2 The closed-loop fuzzy system (20) is
asymptotically stable if there exist matrices P
i
> 0(or
P
l
> 0, i, l = 1, 2, ..., r) such that
_
P
i
G
T
ij
P
l
P
l
G
ij
P
l
_
< 0, i, j, l = 1, 2, ..., r. (21)
4 Local state feedback gains
construction
By Theorem 2, the synthesis problem of a PDC fuzzy
controller reduces to nd P
i
and F
j
, such that
_
P
i
(A
i
+B
i
F
j
)
T
P
l
P
l
(A
i
+B
i
F
j
) P
l
_
< 0
i, j, l = 1, 2, ..., r. (22)
The inequalities (22) are bilinear matrix inequali-
ties(BMIs). The BMI problem is not convex in gen-
eral. To construct local state feedback gains F
j
, the
variable reduction lemma will be used.
Lemma 2 ([14]) Given a symmetric matrix

mm
and two matrices P, Q of column dimension
m, consider the problem of nding some matrix of
compatible dimensions such that
+Q
T

T
P +P
T
Q < 0. (23)
This inequality is solvable for if and only if
W
T
P
W
P
< 0 (24)
W
T
Q
W
Q
< 0 (25)
where W
P
and W
Q
are matrices whose columns are
basis for the null space of P and Q, respectively.
By using the expression of (23), the inequalities (22)
can be rewritten as:

il
+P
T
il
F
j
Q+Q
T
F
T
j
P
il
< 0 (26)
where

il
=
_
P
i
A
T
i
P
l
P
l
A
i
P
l
_
(27)
P
il
=
_
0 B
T
i
P
l

(28)
Q =
_
I 0

. (29)
From Lemma 2, (22) holds for some F
j
if
W
T
Pil

il
W
Pil
< 0 (30)
W
T
Q

il
W
Q
< 0 (31)
where W
Pil
and W
Q
are matrices whose columns are
basis for the null space of P
il
and Q.
Hence, by Lemma 2, variables F
j
(j = 1, 2, ..., l) are
eliminated and the solvability condition depends only
on P
i
(or P
l
) and the system parameters.
Inequalities (30) are LMIs. Since P
l
is included in
W
Pil
, it is dicult to solve the LMIs. Note that
P
il
=
_
0 B
T
i
P
l

=
_
0 B
T
i

_
I 0
0 P
l
_
(32)
then
W
Pil
=
_
I 0
0 P
1
l
_
Ker
_
0 B
T
i

(33)
where Ker denotes the null space of a matrix. Let
W
Bi
= KerB
T
i
, thus
Ker
_
0 B
T
i

=
_
I 0
0 W
Bi
_
. (34)
Substituting (33) and (34) into (30) yields
_
P
i
A
T
i
W
Bi
W
T
Bi
A
i
W
T
Bi
P
1
l
W
Bi
_
< 0. (35)
Let X
i
= P
1
i
, (35) is equivalent to
_
X
i
X
i
A
T
i
W
Bi
W
T
Bi
A
i
X
i
W
T
Bi
X
l
W
Bi
_
< 0. (36)
Following the similar analysis procedure of (30), (31)
reduces to a simple form: P
l
> 0, i.e. X
l
> 0. This
constraint is included in the solvability condition of
(22).
Summing up the above discussion, the local feedback
gains construction procedure is given as follows:
Step 1: Solve (36) to get positive denite matrices
X
i
(X
l
), then calculate P
i
(P
l
).
Step 2: Substitute P
i
into (22), then (22)(i, j, l =
1, 2, ..., r) become LMIs in F
j
. If the LMIs (22) are
solvable, the control law obtained from (22) can stabi-
lize the original fuzzy system (2).
5 Numerical example
This example will illustrate the local feedback gains
construction approach.
R
1
: if z
1
(k) is M
1
1
, then x
k+1
= A
1
x
k
+B
1
u
k
R
2
: if z
1
(k) is M
2
1
, then x
k+1
= A
2
x
k
+B
2
u
k
A
1
=
_
0 0.2
1 0.1
_
, B
1
=
_
0
1
_
A
2
=
_
0 0.8
1 1.6
_
, B
2
=
_
0
2
_
The membership functions for M
1
1
and M
2
1
are
M
1
1
=
1
1 + exp(0.5(x
1,k
0.3))
M
2
1
= 1 M
1
1
Following the feedback gains construction procedure
given in Section 4, rst, we obtain a feasible solution
to (36).
X
1
=
_
36.0680 0
0 34.2418
_
X
2
=
_
36.0680 0
0 19.4612
_
.
Then
P
1
=
_
0.0277 0
0 0.0292
_
P
2
=
_
0.0277 0
0 0.0514
_
.
Furthermore, optimization computation results show
that (22)(i, j, l = 1, 2, ..., r) are solvable.
F
1
=
_
0.6166 0.5949

F
2
=
_
0.6298 0.5737

.
Figure 1 shows the simulation results when the initial
condition of the fuzzy system is
_
x
1,k
x
2,k

T
=
_
0.8 2.7

T
. (37)
It can be noted that the original fuzzy system is asymp-
totically stable under the fuzzy state feedback control
law (19).
6 Conclusion
This paper presents new analysis and design approach
for discrete-time fuzzy systems. Based on fuzzy Lya-
punov function, a new stability condition is obtained.
In this condition, the dierent positive denite matri-
ces which are relative to dierent fuzzy rules are ag-
gregated in one inequality. The stability condition is
more relaxed than the previous results. No assumption
is made for the membership functions. The PDC local
feedback gains construction procedure is simple and
can be solved eectively by optimization computation
tools.
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0 5 10 15 20 25 30
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0.5
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0.5
k
x
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