International Journal of Fuzzy Systems

, Volume 19, Issue 5, pp 1406–1416 | Cite as

Relaxed Controller Design Conditions for Takagi–Sugeno Systems with State Time-Varying Delays

  • Fayçal Bourahala
  • Kevin Guelton
  • Noureddine Manamanni
  • Farid Khaber


This paper deals with the design of fuzzy controllers for Takagi–Sugeno (T-S) fuzzy models with state time-varying delays. New relaxed delay-dependent conditions for the stabilization purpose are proposed in terms of linear matrix inequalities (LMIs), including the knowledge of the bounds of the time-varying delay and its rate of variation. The conservatism improvement is brought through three points: (1) the choice of a convenient augmented Lyapunov–Krasovskii functional candidate, (2) the application of an extension of the Jensen’s inequality, and (3) the Finsler’s lemma. In this context, a parallel distributed compensation control law, which includes both memoryless and delayed state feedbacks, is considered. To apply such control law, it is required to assume that the time-varying delay is available online. Under this assumption, it is highlighted that the proposed LMI-based conditions are significantly relaxed for high rate of variation of the time delay. On the other hand, when this assumption cannot be guaranteed, straightforward corollaries are proposed. A numerical example is provided to illustrate the effectiveness of the proposed LMI-based conditions and their conservatism improvement regarding to previous results.


Takagi–Sugeno (T-S) models Time-varying delay Delay-dependent controller design Lyapunov–Krasovksii functional (LKF) Linear matrix inequalities (LMIs) 



The authors would like to thanks the reviewers and Ms. Adèle Ayed for their valuable comments within this study.


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Copyright information

© Taiwan Fuzzy Systems Association and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.CReSTIC EA3804 University of Reims Champagne-ArdenneReims CedexFrance
  2. 2.QUERE Laboratory, Engineering FacultyUniversity of Setif 1SetifAlgeria

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