controller.m

KALMAN FILTERING FOR FUZZY DYNAMIC SYSTEMS

function [u] = Controller(x, pi1, pi2)

% function [u] = Controller(x, pi1, pi2)
%
% Compute the truck-trailer optimal control.
% INPUTS
%   x = state estimate
%   pi1 = ARE Solution for fuzzy T-S model #1
%   pi2 = ARE Solution for fuzzy T-S model #2
% OUTPUTS
%   u = control

% Compute the T-S system matrices and the membership function values.
[A1, A2, B1, B2, h1, h2] = FuzzyModel(x);

% Compute the two local optimal controls.
r1 = -inv(eye(1) + B1' * pi1 * B1) * B1' * pi1 * A1 * x;
r2 = -inv(eye(1) + B2' * pi2 * B2) * B2' * pi2 * A2 * x;

% Compute the global control.
u = h1 * r1 + h2 * r2;