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Gain-scheduled Takagi-Sugeno fuzzy PI control methodology for LPV systems

This work proposes a theoretical approach of gain-scheduled fuzzy PI control design based on gain and phase margins specifications for LPV (Linear and Parameters Varying) systems, in the continuous time domain. A mathematical formulation from the Takagi-Sugeno fuzzy model structure as well as the PDC (Parallel Distributed Compensation) strategy is developed. Analytical formulas are deduced for the PI subcontrollers parameters, in the robust fuzzy controller rules base, according to the fuzzy model parameters of the LPV plant to be controlled. Results of the necessary and sufficient conditions for the fuzzy controller design, from the proposed robust methodology, with one Axiom and two Theorems are also presented.