andcanhavethepropertiesoftheothercontrolmethod.II.HT-SFUZZYCONTROLANDISMCA.HT-SfuzzycontrolConsideranonlinearsystemasfollows.x(t)f(x)g(x)u(t)w(t)()where||w(t)||≤WbandWbistheboundaryofdisturbance.Dependingontheoperatingpoints,thenonlinearsystemcanbeexpressedasfollows.Thei-thmodelisthatinthecasez(t)isMiand…andzp(t)isMip,()AndHT-SfuzzyfeedbackcontrollerisuikiX(t)()wherei=,,…,randMijisthefuzzysetandristhenumberofmodelrulesGivenapairof(x(t),u(t)),thefuzzysystemsareinferredasfollows:whereandμi(z(t))isthemembershipforeveryfuzzyrule.From()weget()Take()into(),wecangettheclosedloopsystemequations.IfwesetApresenttheerrorboundaryofeveryruleandsatisfythefollowingcondition:Inthesamewayweget:()Basedonthese,theapproximationerrorcanbeboundedbymatrixApandBp.Hcontrolperformanceis:()whereistheprescribedHnorm.Ifwegettheminimizedfor()wecanmaketheeffectofw(t)of()onx(t)isminimized.Ifconsidertheinitialcondition,theHnorm()canbemodifi平衡点计算错误系统。
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