Switched Fuzzy Systems: Representation

Modelling, Stability Analysis,

and Control Design
Hong Yang
1
, Georgi M. Dimirovski
2,3
, and Jun Zhao
1
1
Northeastern University, School of Information Science & Technology, 110004
Shenyang, Liaoning, Peoples Republic of China
cherryyh@126.com, zhaojun@ise.neu.edu.cn
2
SS Cyril and Methodius University, School of Electrical Engineering & Info.
Technologies, 1000 Skopje, Karpos 2 BB, Republic of Macedonia
gdimirovski@dogus.edu.tr
3
Dogus University of Istanbul, School of Engineering, Acibadem, Zeamet Sk 21,
34722 Istanbul - Kadikoy, Republic of Turkey
Summary. Stability issues for switched systems whose subsystems are all fuzzy
systems, either continuous-time or discrete-time, are studied and new results derived.
Innovated representation models for switched fuzzy systems are proposed. The single
Lyapunov function method has been adopted to study the stability of this class
of switched fuzzy systems. Sucient conditions for quadratic asymptotic stabil-
ity are presented and stabilizing switching laws of the statedependent form are
designed. The elaborated illustrative examples and the respective simulation exper-
iments demonstrate the eectiveness of the proposed method.
1 Introduction
The large class of switched systems has attracted extensive research during
the last couple of decades both as such and also in conjunction of the even
larger class of hybrid systems, e.g. see [2, 8, 13, 14, 21]. For, these systems
have a wide range of potential applications. For instance, such systems are
widely used in the multiple operating point control systems, the systems of
power transmission and distribution, constrained robotic systems, intelligent
vehicle highway systems, etc. Thus switched systems represent one of the
rather important types of hybrid systems. Basically all switched systems are
consisted of a family of continuous-time or discrete-time subsystems and a
switching rule law that orchestrates the switching among them.
Recently switched systems have been extended further to encompass
switched fuzzy systems too [12, 14, 20] following the advances in fuzzy slid-
ing mode control [4, 9, 11] although for long time it was known that ideal
H. Yang et al.: Switched Fuzzy Systems: Representation Modelling, Stability Analysis, and
Control Design, Studies in Computational Intelligence (SCI) 109, 155168 (2008)
www.springerlink.com c Springer-Verlag Berlin Heidelberg 2008
156 H. Yang et al.
relay switching is a time optimal control law [17]. A switched fuzzy system
involves fuzzy systems among its sub-systems. The extension emanated out of
the remarkable developments in theory, applications, and the industrial imple-
mentations of fuzzy control systems, e.g. see [1, 16, 18, 19, 23], which exploited
Lyapunov stability theory.
It appeared, the class of switched fuzzy systems can describe more precisely
both continuous and discrete dynamics as well as their interactions in complex
real-world systems. In comparison to either switched or fuzzy control systems,
still few stability results on switched fuzzy control systems can be found in
the literature. For the continuous-time case, in [12] a combination of hybrid
systems and fuzzy multiple model systems was described and an idea of the
fuzzy switched hybrid control was put forward. For the discrete-time case,
in [5], a fuzzy model whose subsystems are switched systems was described.
In this model switching takes place simply based on state variables or time.
Subsequently the same authors gave some extensions to output [6] and to
guaranteed-cost [7] control designs.
In here, an innovated representation modelling of continuous-time and
discrete-time switched fuzzy systems is proposed. Sucient conditions for
asymptotic stability are derived by using the method of single Lyapunov func-
tion and the parallel distributed compensation (PDC) fuzzy controller scheme
as well as the stabilizing statedependent switching laws.
Further this study is written as follows. In Sect. 2, the representation
modelling problem has been explored and innovated models proposed for both
continuous-time and discrete-time cases; note, also both autonomous and non-
autonomous system are observed in this study. Section 3 gives a thorough
presentation of the new theoretical results derived. In Sect. 4, there are pre-
sented the illustrative examples along with the respective simulation results
to demonstrate the applicability and eciency of the new theory. Thereafter,
conclusion and references are given.
2 Novel Models of Switched Fuzzy Systems
In this paper, only TakagiSugeno (T S) fuzzy systems representing the
category of data based models are considered. This representation diers from
existing ones in the literature cited: each subsystem is a T S fuzzy system
hence dening an entire class of switched fuzzy systems. This class inherits
some essential features of hybrid systems [2,14] and retains all the information
and knowledge representation capacity of fuzzy systems [16].
2.1 The Continuous-Time Case
Consider the continuous T S fuzzy model that involves N
(t)
rules of the
type as
R
l
(t)
: If
1
is M
(t)1
and
p
is M
l
(t)p
,
Then x = A
(t)l
x(t) +B
(t)l
u
(t)
(t), l = 1, 2, . . . , N
(t)
(1)
Switched Fuzzy Systems 157
where : R
+
M = {1, 2, , m} is a piecewise constant function and it
is representing the switching signal. In rule-based model (1), R
l
(t)
denotes
the lth fuzzy inference rule, N
(t)
is the number of inference rules, u(t) is the
input variable, and the vector x(t) = [x
1
(t) x
2
(t) x
n
(t)]
T
R
n
represents the
state variables. Vector = [
1

2

p
] represents the vector of rule antecedents
(premises) variables. In the linear dynamic model of the rule consequent,
the matrices A
(t)l
R
nn
and B
(t)l
R
np
are assumed to have the
appropriate dimensions.
The ith fuzzy subsystem can be represented as follows:
R
l
i
: If
1
is M
l
i1
and
p
is M
l
ip
,
Then x(t) = A
il
x(t) +B
il
u
i
(t),
l = 1, 2, . . . , N
i
, i = 1, 2, . . . , m. (2)
Thus the global model of the ith fuzzy sub-system is described by means of
the equation
x(t) =
N
i

l=1

il
((t)) (A
il
x(t) +B
il
u
i
(t)), (3)
together with

il
(t) =
n

=1

M
l

(t)
N
i

l=1
n

=1

M
l

(t)
, (4a)
0
il
(t) 1,
N
i

l=1

il
(t) = 1, (4b)
where
M
l

(t)
denotes the membership function of the fuzzy state variable x

that belongs to the fuzzy set M

l

.
2.2 The Discrete-Time Case
Similarly, we can dene the discrete switched T S fuzzy model including
N
(k)
pieces of rules
R
l
(k)
: If
1
is M
l
(k)1
and
p
is M
l
(k)p
,
Then x(k + 1) = A
(k)l
x(k) +B
(k)l
u
(k)
(k), l = 1, 2, . . . , N
(k)
(5)
where (k) : {0, 1, } {1, 2, , m} is a sequence representing switching
signal {0, Z
+
} {1, 2, , m}.
In turn, the ith sub fuzzy system can be represented as follows:
R
l
i
: If
1
is M
l
i1
and
p
is M
l
ip
,
Then x(k + 1) = A
il
x(k) +B
il
u
i
(k), (6)
l = 1, 2, . . . , N
i
, i = 1, 2, m.
158 H. Yang et al.
Therefore the global model of the ith sub fuzzy system is described by means
of the equation
x(k + 1) =
N
i

l=1

il
(k) (A
il
x(k) +B
il
u
i
(k)), (7)
together with

il
(k) =
n

=1

M
l

(k)
N
i

l=1
n

=1

M
l

(k)
, 0
il
(k) 1,
N
i

l=1

il
(k) = 1. (8)
The representation modeling section is thus concluded.
3 New Stability Results for Switched Fuzzy Systems
First the respective denition for quadratic asymptotic stability of switched
nonlinear systems, e.g. see [2, 14, 2426], and a related lemma in conjunction
with stability analysis re recalled.
Denition 3.1. The system (1) is said to be quadratic stable if there exist
a positive denite matrix P and a state-dependent switching law = (x)
such that the quadratic Lyapunov function V (x(t)) = x
T
(t)Px(t) satises
d
dt
V (x(t)) < 0 for any x(t) = 0 along the system state trajectory from arbitrary
initial conditions.
Remark 3.1. A apparently analogous denition can be stated for the discrete-
time case of system (5), and it is therefore omitted.
Lemma 3.1. Let a
ij
i
(1 i m, 1 j
i
N
i
) be a group of constants
satisfying
m

i=1
a
ij
i
< 0, 1 j
i
N
i
.
Then, there exists at least one i such that
a
ij
i
< 0, 1 j
i
N
i
.
Proof. It is trivial and therefore omitted.
3.1 Stability of Continuous-Time Switched Fuzzy Systems
First, the novel stability result for systems (1) with u 0 in the fuzzy system
representation is explored.
Switched Fuzzy Systems 159
Theorem 3.1. Suppose there exist a positive denite matrix P and constants

ij
l
0, i = 1, 2, . . . , m, j
i
= 1, 2, . . . , N
i
such that
N
i

i=1

ij
i
(A
T
ij
i
P +PA
ij
i
) < 0, j
i
= 1, 2, N
i
, (9)
then the system (1) is quadratic stable under the switching law:
(k) = arg min{

V
i
(x)

=max
j
i
{x
T
(A
T
ij
i
P +PA
ij
i
)x < 0, j
i
= 1, 2, N
i
}} (10)
Proof. From inequality (9) it may well be inferred that
N
i

i=1

ij
i
x
T
(A
T
ij
i
P +PA
ij
i
)x < 0, j
i
=1, 2, N
i
(11)
for any x = 0. Notice that (11) holds true for any j
i
{1, 2, N
i
} and

ij
0. On the other hand, Lemma 3.1 asserts that there exists at least one
i such that
x
T
(A
T
ij
i
P +PA
ij
i
)x < 0, (12)
for any j
i
. Thus, the switching law (10) is a well-dened one. Next, the
time derivative of the respective quadratic [8, 10, 15, 19, 25] Lyapunov func-
tion V (x(t)) = x
T
(t)Px(t), is to be calculated:
d
dt
V (x(t)) = x
T
_
_
_
N
i

l=1

il
A
il
_
T
P +P
_
N
i

l=1

il
A
il
_
_
_
x
=
N
i

l=1

il
x
T
_
A
T
il
P +PA
il

x
Notice, here i = (x) is generated by means of switching law (10). By tak-
ing (4), (12) into account, one can deduce that dV (x(t))/dt < 0, x = 0.
Hence system (1) is quadratic stable under switching law (10), which ends up
this proof.
Now the stability result for the more important case with u = 0, is pre-
sented. It is pointed out that the parallel distributed compensation (PDC)
method for fuzzy controller design [22, 23] is used for every fuzzy sub-system.
It is shown in the sequel how to design controllers to achieve quadratic sta-
bility in the closed loop and under the switching law.
Namely, local fuzzy controller and system (2) have the same fuzzy inference
premise variables:
R
l
ic
: If
1
is M
l
i1
and
p
is M
l
ip
,
Then u
i
(t) = K
il
x(t), l = 1, 2, N
i
, i = 1, 2, m. (13)
160 H. Yang et al.
Thus, the global control is
u
i
(t) =
N
i

l=1

il
K
il
x(t). (14)
Then the global model of the ith sub fuzzy system is described by means
of the following equation:
x =
N
i

l=1

il
(t)
N
i

r=1

ir
(A
il
+B
il
K
ir
)x(t). (15)
Theorem 3.2. Suppose there exist a positive denite matrix P and constants

ij
l
0, i = 1, 2, . . . , m,
i
= 1, 2, . . . , N
i
such that
N
i

i=1

ij
i
_
(A
ij
i
+B
ij
i
K
i
i
)
T
P +P(A
ij
i
+B
ij
i
K
i
i
)

< 0, j
i
,
i
= 1, 2, N
i
,
(16)
Then, the system (1) along with (13)(14) is quadratic stable under the switch-
ing law:
(x) = arg min{

V
i
(x)

=max
j
i
,
i
{x
T
[(A
ij
i
+B
ij
i
K
i
i
)
T
P
+P(A
ij
i
+B
ij
i
K
i
i
)]x < 0, j
i
,
i
= 1, 2, N
i
}} (17)
Proof. It is seen from (12) that
N
i

i=1

ij
i
x
T
_
(A
ij
i
+B
ij
i
K
i
i
)
T
P +P(A
ij
i
+B
ij
i
K
i
i
)

x < 0
j
l
,
l
= 1, 2, . . . , N
i
. (18)
for any x = 0. Further, it should be noted that (18) holds for any j
i
,
i

{1, 2, N
i
} and
ij
i
0. By virtue of Lemma 3.1, there exists at least one i
such that
x
T
_
(A
ij
i
+B
ij
i
K
i
i
)
T
P +P(A
ij
i
+B
ij
i
K
i
i
)

x < 0
for any j
i
,
i
. Thus the switching law (17) is a well-dened one. Via similar
calculations as in Theorem 3.1 using Lyapunov function V (x) = x
T
(t)P x(t),
on can nd:
dV (x(t))
dt
= x
T
(t)Px(t) +x
T
(t)P x(t)
=
N
i

l=1
N
i

r=1

il

ir
x
T
(t)
_
(A
il
+B
il
K
ir
)
T
P +P(A
il
+B
il
K
ir
)

x(t)
in which i = (x) is given by law (17). Thus, system (1) along with (13)(14)
is quadratic stable under switching law (17), and this completes the proof.

Switched Fuzzy Systems 161

3.2 Stability of Discrete-Time Switched Fuzzy Systems
Again rst the case when u = 0 in system (5) is considered.
Theorem 3.3. Suppose there exist a positive denite matrix P and constants

ij
l
0, i = 1, 2, . . . , m,
i
= 1, 2, . . . , N
i
such that
N
i

i=1

ij
i
(A
T
ij
i
PA
i
i
P) < 0, j
i
,
i
= 1, 2, N
i
, (19)
then the system (5) is quadratic stable under the switching law:
(k) = arg min{

V
i
(k)

=max
j
i
,
i
{x
T
(A
T
ij
i
PA
i
i
P)x < 0, j
i
,
i
= 1, 2, N
i
}}
(20)
Proof. Similarly as for Theorem 3.1, from (19) it is inferred that
N
i

i=1

ij
i
x
T
(A
T
ij
i
PA
i
i
P)x < 0, j
i
,
i
=1, 2, N
i
for any x = 0. Then there exists at least an i such that
x
T
(A
T
ij
i
PA
i
i
P)x < 0,
for any j
i
,
i
{1, 2, N
i
}. Now the time derivative of Lyapunov function
V (x(t)) = x
T
(t)Px(t) is calculated to give:
V (x(k)) = V (x(k + 1)) V (x(k))
= x
T
(k)
_
_
_
N
i

l=1

il
(k)A
il
_
T
P
_
N
i

r=1

i
(k)A
i
_
P
_
_
x(k)
=
N
i

l=1

il
N
i

r=1

i
x
T
(k)
_
A
T
il
PA
i
P

x(k)
Hence the system (5) is quadratic stable under switching law (20), and this
completes the proof.
The more important case with u = 0 in system (5) is considered next.
And again the PDC method for fuzzy controller design is used for every fuzzy
sub-system. Namely, it is observed that local fuzzy control and system (6)
have the same fuzzy inference premise variables:
R
l
ic
: If
1
is M
l
i1
and
p
is M
l
ip
,
Then u
i
(k) = K
il
x(k), l = 1, 2, N
i
, i = 1, 2, m. (21)
162 H. Yang et al.
Thus, the global control is
u
i
(k) =
N
i

l=1

il
K
il
x(k). (22)
Then the global model of the ith sub fuzzy system is described by:
x(k + 1) =
N
i

l=1

il
(k)
N
i

r=1

i
(A
il
+B
il
K
i
)x(k). (23)
Theorem 3.4. Suppose there exist a positive denite matrix P and
ij
l
0,
i = 1, 2, . . . , m,
i
= 1, 2, . . . , N
i
such that
N
i

i=1

ij
i
_
(A
ij
i
+B
ij
i
K
i
i
)
T
P(A
ip
i
+B
ip
i
K
iq
i
) P

< 0
j
i
,
i
, p
i
, q
i
= 1, 2, N
i
(24)
Then, the system (5) along with (21)(22) is quadratic stable under the switch-
ing law:
(k) = arg min{

V
i
(k)

= max
j
i
,
i
,p
i
,q
i
{x
T
[(A
ij
i
+B
ij
i
K
i
i
)
T
P(A
ip
i
+B
ip
i
K
iq
i
)
P]x < 0, j
i
,
i
, p
i
, q
i
= 1, 2, N
i
}}
(25)
Proof. It is very similar to that of Theorem 3.3 and thus omitted.
4 Illustrative Examples and Simulation Results
Results applying the above developed theory on two examples, one for the
continuous-time and one the discrete-time case, and the respective simulations
(e.g. using MathWorks software [27]) are given below.
4.1 A Continuous-Time Case of Autonomous System
Consider a continuous-time switched fuzzy system described as follows:
R
1
1
: If x is M
1
11
, Then x(t) = A
11
x(t)
R
2
1
: If x is M
2
11
, Then x(t) = A
12
x(t)
R
1
2
: If y is M
1
21
, Then x(t) = A
21
x(t)
R
2
2
: If y is M
2
21
, Then x(t) = A
22
x(t)
Switched Fuzzy Systems 163
where
A
11
=
_
17 0.0567
4.93 0.983
_
, A
12
=
_
10 0.216
0.0132 45.29
_
;
A
21
=
_
50 0.042
0.008 10
_
, A
22
=
_
40 0.0867
0.047 120
_
.
Above, the fuzzy sets M
1
11
, M
2
11
, M
1
21
, M
2
21
, respectively, are represented by
means of the following membership functions:

1
11
(x) = 1
1
1 +e
2x
,
2
11
(x) =
1
1 +e
2x
;

1
21
(y) = 1
1
1 +e
(2(y0.3))
,
2
21
(y) =
1
1 +e
(2(y0.3))
.
For
2

i=1

ij
i
(A
T
ij
i
P +PA
ij
i
) < 0, j
i
= 1, 2
by choosing
ij
i
= 1, one can nd (e.g. ultimately by using LMI toolbox) the
following P matrix
P =
_
0.0159 0.0001
0.0001 0.0071
_
.
Then system is quadratic asymptotically stable under the following switch-
ing law
(x) = arg min{

V
i
(x)

=max
j
i
{x
T
(A
T
ij
i
P +PA
ij
i
)x < 0, j
i
= 1, 2}}.
Figure 1 above depicts the obtained simulation results for the controlled evo-
lution of system state variables when, at the initial time instant, the system
is perturbed by the state vector x(0) = [2 2]
T
.
4.2 A Cases of Discrete-Time Non-Autonomous System
Now, let consider a discrete-time switched fuzzy system that is represented as
follows:
R
1
1
: If x(k) is M
1
11
, Then x(k + 1) = A
11
x(k) +B
11
u(k),
R
2
1
: If x(k) is M
2
11
, Then x(k + 1) = A
12
x(k) +B
12
u(k),
R
1
2
: If y(k) is M
1
21
, Then x(k + 1) = A
21
x(k) +B
21
u(k),
R
2
2
: If y(k) is M
2
21
, Then x(k + 1) = A
22
x(k) +B
22
u(k),
164 H. Yang et al.
Fig. 1. The evolution time-histories for system state variables x
1
(t), x
2
(t) after the
perturbation by x(0) = [2 2]
T
at the initial time instant
where
A
11
=
_
0 1
0.0493 1.0493
_
, A
12
=
_
0 1
0.0132 0.4529
_
,
A
21
=
_
0 1
0.2 0.1
_
, A
22
=
_
0.2 1
0.8 0.9
_
;
B
11
=
_
0
0.4926
_
, B
21
=
_
0
1
_
, B
12
=
_
0
0.1316
_
, B
22
=
_
0
1
_
.
The above fuzzy sets M
1
11
, M
2
11
, M
1
21
, M
2
21
, respectively, are represented by
means of the following membership functions:

1
11
(x(k)) = 1
1
1 +e
2x(k)
,
2
11
(x(k)) =
1
1 +e
2x(k)
,

1
21
(y(k)) = 1
1
1 +e
(2(y(k)0.3))
,
2
21
(y(k)) =
1
1 +e
(2(y(k)0.3))
.
The state feedback gains of subsystems are obtained as
K
11
= [0.131 0.1148], K
12
= [0.0623 2.302],
K
21
= [1.8 1.9] , K
22
= [0.7 1.3].
For
2

i=1

ij
i
_
(A
ij
i
+B
ij
i
K
i
i
)
T
P(A
ip
i
+B
ij
i
K
iq
i
) P

< 0, j
i
,
i
, p
i
, q
i
= 1, 2,
Switched Fuzzy Systems 165
Fig. 2. The evolution time-histories for system state variables x
1
(k), x
2
(k) after
the perturbation by x(0) = [5 1]
T
at the initial time instant
by choosing
ij
i
= 1, for the P matrix one can obtain the following result:
P =
_
0.3563 0.0087
0.0087 0.1780
_
.
Then, the system is asymptotically stable under the following switch-
ing law
(k) = arg min{

V
i
(k)

= max
j
i
,
i
,p
i
,q
i
{x
T
[(A
ij
i
+B
ij
i
K
i
i
)
T
P(A
ip
i
+B
ip
i
K
iq
i
) P]x < 0,
j
i
,
i
, p
i
, q
i
= 1, 2}}.
Figure 2 below depicts the obtained simulation for the transients of controlled
system state variables when, at the initial time instant, the system is per-
turbed by the state vector x(0) = [5 1]
T
; the sampling period was setup to
T
s
= 0.05 s.
As known from the literature, the combined switching control along with
the state feedback gains does produce a reasonably varying control eort (see
Fig. 3) that can be sustained by actuators.
5 Conclusion
Innovated representation models for the class of switched fuzzy systems, both
continuous-time and discrete-time, based on TakagiSugeno fuzzy models were
proposed. For both cases, new sucient conditions for quadratic asymptotic
stability of the control system with the given switching laws (Theorems 3.1
166 H. Yang et al.
0.14
0 5 10 15
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
Fig. 3. The evolution time-history of the switching based state-feedback gain control
of the plant system perturbed by x(0) = [5 1]
T
at the initial time instant
thru 3.4) have been derived via the common Lyapunov function approach. Fol-
lowing these new stability results, only the stability of a certain combination
of subsystem matrices has to be checked, which is easier to carry out.
On the grounds of introducing the appropriate switching laws the stabi-
lizing control in the state-variable dependent form has been synthesized for
both these cases of fuzzy switched systems. Simulation results demonstrate
that a control performance of considerable quality has been achieved in the
closed loop thus promising the applicability in real-world problems.
The twofold future research is envisaged towards, rstly, reducing the con-
servatism of the obtained theorems and, secondly, towards deriving more so-
phisticated thus delicate switching based control laws.
Acknowledgments
The authors are grateful to their respective university institutions for the
continuing support of their academic co-operation. In particular, Georgi M.
Dimirovski would like to express his special thanks to his distinguished friends
Lot A. Zadeh, the legend of fuzzy systems, and Janusz Kacprzyk, renown for
his fuzzy based decisions support systems, for their rather useful suggestions.
Also, he is thankful to the young colleague Daniel Liberson whose discussion
regarding the switching control helped to clarify the presentation in this
paper.
Switched Fuzzy Systems 167
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