本論文是結合高木與菅野(T-S)模糊模型，與模型預測控制(MPC)策略，來處理離散非線性系統之穩定性問題。首先利用T-S模糊模型將非線性系統模型化。其次，利用模型預測控制法則與平行分佈補償(PDC)技術，設計模糊狀態回授控制器，並以線性矩陣不等式(LMIs)導出李亞普諾函數指數穩定意義表示之充分條件。最後，以卡車拖車(truck-trailer)系統作為實驗平台，進行電腦數值模擬，證明所提出之混合模糊模型預測控制法有效，且可得到令人滿意的結果。
In this paper, we combined the Takagi-Sugeno (T-S) fuzzy model with the model predictive control (MPC) strategy to deal with the stabilization problem of nonlinear systems. First, the discrete-time T-S fuzzy model was adopted for modeling the nonlinear systems. Second, fuzzy state feedback controllers were proposed which was based on the model predictive control approach and a parallel distributed compensation (PDC) scheme. Sufficient conditions were derived for stabilization in the sense of Lyapunov exponential stability, and formulated in linear matrix inequalities (LMIs). Finally, a truck-trailer system, which is nonlinear and unstable, was applied for test. The effectiveness of the proposed mixed fuzzy model predictive controller design was demonstrated with satisfactory numerical simulation results.
