Nonlinear Dynamics

, Volume 68, Issue 1–2, pp 63–76 | Cite as

Output feedback controller for hysteretic time-delayed MIMO nonlinear systems

An H-based indirect adaptive interval type-2 fuzzy approach
  • Seyyed Hossein Mousavi
  • Bijan Ranjbar-SahraeiEmail author
  • Navid Noroozi
Original Paper


In this paper, an H output feedback controller is developed for a class of time-delayed MIMO nonlinear systems, containing backlash as an input nonlinearity. Particularly, a state observer is proposed to estimate unmeasurable states. The control law can be divided into two elements: An adaptive interval type-2 fuzzy part which approximates the uncertain model. The second part is an H -based controller, which attenuates the effects of external disturbances and approximation errors to a prescribed level. Furthermore, the Lyapunov theorem is used to prove stability of proposed controller and its robustness to external disturbance, hysteresis input nonlinearity, and time varying time-delay. As an example, the designed controller is applied to address the tracking problem of 2-DOF robotic manipulator. Simulation results not only verify the robust properties but also in comparison with an existing method reveal the ability of the proposed controller to exclude the effects of unknown time varying time-delays and hysteresis input nonlinearity.


Interval type-2 fuzzy approximator MIMO control H control Hysteretic systems Robotic manipulator control 


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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  • Seyyed Hossein Mousavi
    • 1
  • Bijan Ranjbar-Sahraei
    • 2
    Email author
  • Navid Noroozi
    • 3
  1. 1.School of Electrical and Computer EngineeringShiraz UniversityShirazIran
  2. 2.Department of Electrical Engineering, Science and Research BranchIslamic Azad UniversityFarsIran
  3. 3.Young Researchers Club, Najaf Abad BranchIslamic Azad UniversityIsfahanIran

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