Fuzzy Model-Based Output-Tracking Control for 2 Degree-of-Freedom Helicopter

This paper addresses the control problem of a laboratory-level 2 degree-of-freedom helicopter. The exact fuzzy model in a Takagi – Sugeno form is constructed by the sector nonlinearity technique, and is then represented as a set of uncertain linear systems. Output-tracking controller is designed in terms of linear matrix inequalities and the closed-loop stability is rigorously analyzed. Experimental evaluation shows that the proposed method is of benefit to many real industrial plants. KCI Citation Count: 3