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Fuzzy Control With Guaranteed Cost for

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Fuzzy Control with Guaranteed Cost for Nonlinear
Coupled Parabolic PDE-ODE Systems via PDE
Static Output Feedback and ODE State Feedback
Huan-Yu Zhu, Huai-Ning Wu, and Jun-Wei Wang
AbstractThis paper investigates the guaranteed cost fuzzy
control (GCFC) problem for a class of nonlinear systems modeled
by an n-dimension ordinary differential equation (ODE) coupled
with a semi-linear scalar parabolic partial differential equation
(PDE). A Takagi-Sugeno (T-S) fuzzy coupled parabolic PDE-ODE
model is initially proposed to accurately represent the nonlinear
coupled system. Then, on the basis of the T-S fuzzy coupled
model, a GCFC design is developed in terms of linear matrix
inequalities (LMIs) to exponentially stabilize the coupled system
while providing an upper bound for a prescribed quadratic cost
function. The proposed fuzzy control scheme consists of the
ODE state feedback and the PDE static output feedback (SOF)
employing locally collocated piecewise uniform actuators and
sensors. Moreover, a suboptimal GCFC problem is also addressed
to minimize the cost bound. Finally, the developed method is
applied to the cruise control and surface temperature cooling of
a hypersonic rocket car.
Index TermsCoupled parabolic PDE-ODE systems, Takagi-
Sugeno fuzzy model, guaranteed cost fuzzy control, exponential
stability.
I. I NTRODUCTION
HE optimal control problem, which is a process of
T finding a control law for a given dynamic system as well
as minimizing the preassigned performance index, has been
widely studied (see [1], [2]) in the past few decades. Several
approaches have been developed for the optimal control design
of linear or nonlinear systems which are described by ordi-
nary differential equations (ODEs), such as linear quadratic
regulator theory, Pontryagin minimum principle, and dynamic
programming [3][5]. Furthermore, based on the Pontryagin
minimum principle or the dynamic programming, the optimal
control problem of the nonlinear systems can be transformed
to solving Hamilton-Jacobi-Bellman (HJB) equations, which
are nonlinear partial differential equations (PDEs) that are,
however, hard to solve in most cases. This is the main bottle-
neck for the application of optimal control techniques to the
nonlinear systems. On the other hand, the model uncertainty
This work was supported in part by the National Natural Science Foundation
for Distinguished Young Scholars of China under Grant 61625302, in part by
the National Natural Science Foundations of China under Grant 61473011,
Grant 61421063, and Grant 61403026. (Corresponding authors: Jun-Wei
Wang and Huai-Ning Wu)
Huan-Yu Zhu and Huai-Ning Wu are with the Science and Technol-
ogy on Aircraft Control Laboratory, School of Automation Science and
Electrical Engineering, Beihang University, Beijing 100191, China, e-mail:
huanyu0414@126.com, whn@buaa.edu.cn
Jun-Wei Wang is with the School of Automation and Electrical Engineering,
University of Science and Technology Beijing, Beijing 100083, China, e-mail:
junweiwang@ustb.edu.cn or wangjunwei-1984@163.com
1
can result in performance degradation even instability of the
system. In order to design a control system which is not
only robustly stable but also guarantees an adequate level of
performance, the guaranteed cost control (GCC) problem for
uncertain systems has been extensively studied in the past three
decades [6][9].
The GCC problem was firstly introduced in [6] for a class of
nonlinear systems with uncertain parameters. Since then, many
researchers have devoted to investigating this problem. For
instance, Haddad et al. [7] and Yang et al. [8] have utilized
the modified HJB equation and Hamilton-Jacobi inequality
techniques to study GCC design of nonlinear uncertain sys-
tems, respectively. In [9], Wu and Li have proposed a linear
matrix inequality (LMI) approach to GCC design for a class
of parabolic PDE systems with unknown nonlinearities via
Galerkins method and neural network approximation tech-
nique. In particular, it is very popular to employ the Takagi-
Sugeno (T-S) fuzzy-model-based control technique [10][12]
for studying GCC problem of nonlinear systems, since it can
avoid the solving difficulty of the HJB equations, and can
be formulated as the LMI optimization problem [13], [14].
For example, Jadbabaie et al. [15] proposed an LMI-based
guaranteed cost fuzzy control (GCFC) design for nonlinear
systems; Wu and Cai [16] extended the result in [15] to the
nonlinear systems with norm-bounded uncertainties; and in
[17], a GCFC approach was presented for nonlinear time-delay
systems. More recently, a guaranteed cost distributed fuzzy
observer-based control design has been proposed in [18] for
a class of nonlinear hyperbolic PDE systems. However, these
results in [15][18] are only developed for pure ODEs or pure
PDEs.
In practice, many processes can be represented by coupled
PDE-ODE systems, such as vehicular traffic flow [19], ac-
tivated sludge processes [20], hypersonic thermal protection
[21], semiconductor devices operated in circuits [22], and flex-
ible marine risers [23], etc. These processes are more complex
than the ones described by pure ODEs or pure PDEs, and their
control design is more challenging, because of the infinity-
dimensional nature of PDE subsystems and the complexity
of PDE-ODE coupling form. Hence, it is very important to
study the control design of this class of coupled systems. Over
the past few years, some researchers have paid attention to
control design of linear coupled parabolic PDE-ODE systems
[21], [24], [25]. Pesch et al. [21] investigated an optimal
control problem of the state coupled systems with a PDE state
constraint. The control design of boundary coupled systems
 2

[[ ]T [ L ]T ]T
was provided in [24], [25] by using the method of infinite- Cx(t) q()(, t)d
dimensional backstepping transformation with kernel functions z(t) = 0 (1c)
Du1 (t) du2 (t)
[26], which needs to solve a computationally expensive higher-
dimensional PDE. For nonlinear coupled parabolic PDE-ODE with the Neumann boundary conditions
systems, Kehrt et al. [22] analyzed the stability of the systems (0, t) = 0, (L, t) = 0 (2)
modeled by a linear ODE coupled with a semi-linear PDE
via time-delay feedback; Wu and Wang [27] gave observer and the initial conditions
and observer-based output feedback controller designs for x(0) = x0 , (, 0) = 0 () (3)
nonlinear ODE with diffusion PDE-governed sensor dynamics
based on the robust control technique; Wu et al. [28] proposed where x(t) 1 is the state of the ODE subsystem (1a);
an LMI approach to H fuzzy control design with an input (, t) 2 indicates the state of the PDE subsystem (1b);
constraint for the system consisting of a nonlinear ODE and [0, L] R and t [0, ) stand for the spatial
a linear scalar PDE. However, in [22], [27], [28], the control position and time, respectively, the subscripts and t represent
inputs only directly affect the ODE subsystem dynamics. the partial derivatives with respect to and t, respectively;
(, t) denotes the second-order partial derivative of (, t)
In this paper, we will address the GCFC problem for a
with respect to ; F (x(t)), G(x(t)), B(x(t)), and g(x(t))
nonlinear system described by an n-dimension ODE coupled
are locally Lipschitz continuous functions with respect to
with a semi-linear scalar parabolic PDE via the ODE state
x(t) and satisfy F (0) = 0 and g(0) = 0; u1 (t) Rm1
feedback and the PDE static output feedback (SOF) employing
is the control input of the ODE subsystem (1a); > 0 is
locally collocated piecewise uniform actuators and sensors,
a known parameter; f ((, t)) is a locally Lipschitz contin-
such that the closed-loop system is exponentially stable and an
uous function in (, t) and satisfies f (0) = 0; u2 (t) ,
optimized upper bound of quadratic cost function is provided.
[u2,1 (t) u2,m2 (t)]T Rm2 denotes the control input
The novelty and main contributions of this paper include:
of the PDE subsystem (1b); z(t) is the objective output
i) an LMI-based GCFC design is proposed for a class of
of the system (1)-(3); C and D are known matrices; d ,
nonlinear coupled parabolic PDE-ODE systems; ii) a simple
diag{d1 , , dm2 }, dl (l M , {1, , m2 }) are known
but effective control scheme via locally collocated piecewise
parameters; q() , [q1 () qm3 ()]T Rm3 is a selected
uniform actuators and sensors is developed for the semi-linear
continuous function of ; b() , [b1 () bm2 ()]T Rm2
parabolic PDE subsystem; iii) a potential application of the
is a known function of , bl () (l M) describes the
proposed design method to the cruise control and surface
distribution of the control action u2,l (t) over the interval [0, L];
temperature cooling of a hypersonic rocket car is discussed
0 () and x0 are the initial conditions.
by means of computer simulations.
Remark 2.1: It should be pointed out that the coupled system
N otations: R, Rn , and Rmn are the set of all real
under consideration is different from the one in [28], where
numbers, n-dimensional Euclidean space and the set of all
the PDE subsystem is assumed to be linear and stable (without
m n matrices, respectively. P > 0 (< 0, 6 0) means
the control input).
that it is real symmetric positive definite (negative definite,
Definition 2.1: [27] The system (1)-(3) without control
negative semi-definite, respectively). I and 0 refer to the
inputs is said to be exponentially stable, if there exist con-
identity matrix and zero matrix of appropriate dimensions,
stants 0 > 0, 1 > 0, and 2 > 0 such that for any
respectively. min (A) and max (A) stand for the minimum
(, 0)2 < 0 , its solution (, t) satisfies (, t)2 6
and maximum eigenvalues of a square matrix A, respectively.
1 (, 0)2 exp(2 t), where (, t) , [xT (t) (, t)]T
| | and indicate the absolute value and Euclidean norm.
1 2 and (, t)2 = x(t)2 + (, t)22 .
H , L2 ([0, L]; R) is a Hilbert space of square integrable
Let yc (t) = g(x(t)). Utilizing the local sector nonlinearity
scalar functions () : [0, L] R with the inner prod-
L approach [10], we assume that the ODE subsystem (1a), the
uct 1 (), 2 () = 0 1 ()2 ()d and norm 1 ()22 = coupled term yc (t) = g(x(t)), and the PDE subsystem (1b)
1 (), 1 (), where 1 (), 2 () H. The superscript T is can be exactly represented by the following T-S fuzzy ODE
used for the transpose of a vector or a matrix. The symbol and PDE models described by fuzzy IF-THEN rules in the
stands for the symmetric terms in a symmetric matrix. local domain 1 2 , which express local dynamics using
the linear ODE and PDE models, respectively:
II. P ROBLEM FORMULATION ODE Model rule i :
Let 1 , {x(t) , [x1 (t) xn (t)] |xi (t) T
IF 1 (t) is Fi1 and and r1 (t) is Fir1
[xi , xi ], i N } Rn and 2 , {(, t) [T1 , T2 ]} R { L
x(t) = Ai x(t) + i 0 (, t)d + Bi u1 (t)
be the domains containing the origin where xi 6 0, T1 6 0, THEN
yc (t) = i x(t)
xi > 0, T2 > 0, and N , {1, , n}. We consider the
(4)
following nonlinear coupled parabolic PDE-ODE systems:
PDE Model rule j :
L
x(t) = F (x(t)) + G(x(t)) (, t)d + B(x(t))u1 (t) (1a) IF 1 (, t) is Fj1 and and r2 (, t) is Fjr2
0 THEN t (, t) = (, t) + aj (, t) + yc (t)
t (, t) = (, t)+f ((, t))+g(x(t))+bT ()u2 (t) (1b) + bT ()u2 (t) (5)
 3

where p (t) (p R1 , {1, , r1 }) and q (, t) (q R2 , 0 L

{1, , r2 }) are premise variables, which are respectively y1 (t ) y2 (t ) ym2 (t )

assumed to be functions of the ODE state variable x(t) and -----------
the PDE state variable (, t), Fip (i S1 , {1, , s1 }, p 1 2 3 ----------- m m +1
R1 ) and Fjq (j S2 , {1, , s2 }, q R2 ) are fuzzy sets of 1 2 3 4
2

2 m 1
2
2m2
2

u2,1 (t ) u2,2 ( t ) u2,m2 ( t )

the ODE and PDE models, respectively, r1 and r2 are numbers
of premise variables in the ODE and PDE models, respectively,
Fig. 1. Locally collocated piecewise uniform actuators and piecewise uniform
s1 and s2 are numbers of the ODE and PDE model IF-THEN sensors
rules, respectively, Ai , i , Bi , i , and aj (i S1 , j S2 )
are known real matrices and parameters, respectively.
The overall dynamics of the fuzzy coupled system of (4)-(5) linearization) that require the nonlinear terms to be sufficiently
can be inferred as follows: smooth, the fuzzy control approach only requires the Lipschitz
L conditions on the system nonlinear terms.
x(t) = A((t))x(t) + B((t))u1 (t) + ((t)) (, t)d, For the ODE subsystem, based on the parallel distributed
0 compensation scheme, we consider the following fuzzy sub-
(6a)
controller via the ODE state feedback:
t (, t) = (, t) + a((, t))(, t) + yc (t) + bT ()u2 (t) ODE Control rule w :
(6b)
s1 IF 1 (t) is Fw1 and and r1 (t) is Fwr1
where yc (t) = i=1 hi ((t))i x(t) , ((t))x(t), and THEN u1 (t) = Kw x(t)

s1
where Kw Rm1 n (w S1 ) are control gain matrices to be
(t) , [1 (t) r1 (t)]T , S((t)) , hi ((t))Si ,
determined. Then, the overall fuzzy subcontroller of the ODE
i=1
r1 subsystem is represented by
i ((t))
hi ((t)) = s1 , i ((t)) = Fip (p (t)),
s1
i=1 i ((t)) p=1 u1 (t) = hw ((t))Kw x(t) , K((t))x(t) (10)
(, t) , [1 (, t) r2 (, t)]T , w=1
s1
s2
j ((, t)) where K((t)) , w=1 hw ((t))Kw .
a(, ) , hj ((, t))aj , hj ((, t)) = s2 , For the PDE subsystem, we consider a fuzzy control scheme
j=1 j=1 j ((, t))
by employing locally collocated piecewise uniform actuators

r2
and sensors as shown in Fig. 1, the measurement output of the
j ((, t)) = Fjq (q (, t)), i S1 , j S2 PDE subsystem (1b) is given as follows:
q=1
[ ]T
in which S() {A(), (), B(), ()}, and Fip (p (t)) and yout (t) , y1 (t) ym2 (t)
[ L ]T
Fjq (q (, t)) are the grades of the memberships of p (t) in = 0L c1 ()(, t)d c ()(, t)d ,
m
fuzzy sets Fip (i S1 , p R1 ) and q (, t) in fuzzy sets Fjq 0 2

(11)
(j S2 , q R2 ), respectively.
s1 In this paper, it is assumed
that i ((t)) > 0, i S1 , i=1 s2i ((t)) > 0 for all t > 0, where cl () (l M) are the measurement distribution func-
and j ((, t)) > 0, j S2 , j=1 j ((, t)) > 0 for all tions. Set bl () in (1b) and cl () (l M) as follows:
[0, L], t > 0. Then, we have the following conditions:
bl () = bl (H( 2l1 ) H( 2l )),

s1
hi ((t)) = 1, hi ((t)) > 0, i S1 , (7) cl () = H( 2l1 ) H( 2l ) (12)
i=1 where bl (l M) are known scalars, H() is the Heaviside

s2
step function, 0 = 1 < 2 < < m2 < m2 +1 = L.
hj ((, t)) = 1, hj ((, t)) > 0, j S2 . (8)
The distribution functions bl () and cl () (l M) will
j=1
respectively produce m2 zones of collocated piecewise uni-
Obviously, from (1) and (6), we have for [x(t) (, t)]T form control and measurement over [2l1 , 2l ], l M. The
1 2 following SOF fuzzy subcontroller of PDE subsystem is given
for each l:
F (x(t)) = A((t))x(t), G(x(t)) = ((t)),
B(x(t)) = B((t)), g(x(t)) = ((t))x(t), PDE Control rule k :
f ((, t)) = a((, t))(, t). (9) IF l1 (t) is Flk1 and and lr3 (t) is Flkr3
THEN u2,l (t) = Wl,k yl (t)
Remark 2.2: Since the fuzzy system is represented by
multiple linear systems, the development of the suggested where the premise variables lk (t) (k S3 , {1, , s3 }) are
fuzzy control approach can make full use of the control determined by the measurement output yl (t) for each l M.
design techniques of linear systems. Moreover, in contrast Flkq (k S3 , q R3 , {1, , r3 }) are fuzzy sets of the
to the traditional nonlinear control methods (e.g., feedback PDE subcontroller, r3 is the number of premise variables of
 4

the PDE subcontroller, s3 is the number of the PDE subcontrol By considering (9), the time derivative of V (t) in (16) along
IF-THEN rules, Wl,k R (k S3 ) are control gain matrices the solution of the system (1) under the fuzzy controller of the
to be determined. Then, the overall fuzzy subcontroller of the form (10) and (13) in 1 2 is given by
PDE subsystem is represented by ( )
L

s3
V (t) = 2xT (t)P A((t))x(t) + ((t)) (, t)d
u2,l (t) = mk (l (t))Wl,k yl (t) , Wl (l (t))yl (t) (13) 0
k=1 L
+ 2 (, t) ( (, t) + ((t))x(t)
where l (t) , [l1 (t) lr3 (t)]T , Wl (l (t)) =
s3 (l (t))
0 )
l
k=1 mk ( (t))Wl,k , mk (l (t)) = s3k ,
m2
r3
l
k=1 k ( (t)) + l
bl ()Wl ( (t))yl (t) + a((, t))(, t) d
l
k ( (t)) = l l
q=1 Fkq (q (t)) > 0, k S3 , and
s3 l=1
k=1 k (l
(t)) > 0 for all t > 0. Therefore, we have (17)

s3
mk (l (t)) = 1, mk (l (t)) > 0, k S3 . (14) where A((t)) , A((t)) + B((t))K((t)). Based on the
k=1 method in [33], from the first mean value theorem for integrals,
Remark 2.3: Note that if bl () and cl () (l M) are for each l M and any t > 0, there exists a scalar tl
chosen as Dirac -functions, the proposed control scheme will [2l1 , 2l ] [l , l+1 ] such that
be degenerated into the control scheme employed in [29]. 2l
Remark 2.4: Different from the control input in [28] only (, t)d = l (tl , t) (18)
2l1
entering the ODE subsystem via the feedback of ODE and
PDE states, the control input u1 (t) entering the ODE subsys-
where tl is a function of time t, l , 2l 2l1 , l M. The
tem is calculated as (10) via the ODE state, and the control
point (tl , t) is called the mean value of (, t) on [2l1 , 2l ].
input u2 (t) entering the PDE subsystem is calculated by (13)
Using (11), (12) and (18), we have
via the partial PDE state.
In this study, we consider the following quadratic cost L
m2
function [30]: 2 (, t) bl ()Wl (l (t))yl (t)d
0 l=1
J, z T (t)z(t)dt. (15) ( )2
0
m2 2l

The aim of this study is to design a fuzzy feedback control = 2bl Wl (l (t)) (, t)d
l=1 2l1
law of the form (10) and (13) and determine a cost bound

m2
Jb < + as small as possible, such that the nonlinear coupled = 2bl Wl (l (t))2l 2 (tl , t). (19)
system (1)-(3) is stabilized exponentially and the cost function l=1
defined by (15) satisfies J 6 Jb .
The following lemmas will be used in the subsequent fuzzy Since tl [2l1 , 2l ] [l , l+1 ], for any t > 0 and each
control design development. l M, we can get
Lemma 2.1: (Wirtingers inequality, [31]) Let z(, t)
H be an absolutely continuous scalar function with square tl l 6 2l l and l+1 tl 6 l+1 2l1 . (20)
integrable derivative zy (y, t). Then, the inequality z(, t)22 6
4L2 2 zy (, t)22 holds if z(0, t) = 0 or z(L, t) = 0. Utilizing the integration by parts and the boundary conditions
Lemma 2.2: (Jensens inequality, [32]) For any matrix (2) yields
M > 0 Rnn and a scalar > 0, the vector function L L
x : [0, ] Rn is selected such that the following inte- (, t) (, t)d =(, t) (, t)|=L
=0 2 (, t)d
grations
are well-defined, then ( x(s)ds)T
M ( x(s)ds) 6 0 0
0 0 m2
l+1
0 xT (s)M x(s)ds.
= 2 (, t)d. (21)
l=1 l
III. M AIN R ESULTS
In this section, based on the fuzzy model (6), we will By Lemma 2.1, we have for any l M
provide a GCFC design for the nonlinear coupled system (1)- l+1 tl l+1
(3). Consider the following Lyapunov function candidate: 2 (, t)d = 2 (, t)d + 2 (, t)d
L l l tl
T tl
V (t) = x (t)P x(t) + 2 (, t)d (16) 2
0 > ((, t) (tl , t))2 d
4(tl l )2 l
where P > 0 Rnn and > 0 R. This Lyapunov l+1
2
function candidate will be employed to design the guaranteed + ((, t) (tl , t))2 d.
cost fuzzy controller of the form (10) and (13) for the system 4(l+1 tl )2 tl

(1)-(3). (22)
 5

Using (20), the inequality in (22) is rewritten as for each l It follows from Lemma 2.2 that
M ( )T ( )
L L
l+1 tl q()(, t)d q()(, t)d
2
2 (, t)d > ((, t) (tl , t))2 d 0 0
l 4( 2l l )2
l L
2 6L 2 (, t)q T ()q()d, (26)
+
4(l+1 2l1 )2 0
l+1 and
((, t) (tl , t))2 d ( )2
tl 2l 2l
l+1 2 (, t)d 6 l 2 (, t)d. (27)

> ((, t) (tl , t))2 d (23) 2l1 2l1
l 42l
Then, using (26) and (27), and considering [2l1 , 2l ]
where 2l , max{(2l l )2 , (l+1 2l1 )2 }, l M. Then, [l , l+1 ], l M, we have
by using (19), (21), and (23), and considering > 0 and
> 0, it follows from (17) that z T (t)z(t) 6 xT (t)(C T C + K T ((t))DT DK((t)))x(t)
L
m2 l+1 (
+ L 2 (, t)q T ()q()d
V (t) 6 2L1 xT (t)P A((t))x(t) 0
l
m2 l+1
l=1
2 + d2l Wl2 (l (t))l 2 (, t)d.
+ 2x (t)P ((t))(, t)
T
((, t) (tl , t))2 l=1 l
22l
) Define
+ 2(, t)((t))x(t) + 2a((, t)) 2 (, t) d v
u m3
+ 2bl Wl (l (t))2l 2 (tl , t) u
m2 l+1
ql,max , t 2
qr,l,max ,
= lT (, t)1,l l (, t)d (24) r=1
l
l=1 2
qr,l,max , max{qr2 (l ), l [l , l+1 ]}, l M,
where l (, t) , [xT (t) (, t) (tl , t)]T , l M and it is easy to obtain that

1 2 0 m2
l+1
1,l , 3,l 0.5 2 2 l
, l M z (t)z(t) 6
T
lT (, t)2,l l (, t)d (28)
4,l l=1 l

in which where

1 , [L1 P A((t)) + ], 2,l , L1 P1T P1 + L1 K1T K1

2 , P ((t)) + T ((t)), +l K2,l
T
K2,l + LP2,l
T
P2,l , l M
3,l , 2a((, t)) 0.5 2 2
l , with
4,l , 0.5 2 2
l + 2(l+1 l )
1
bl 2l Wl (l (t)). [ ] [ ]
P1 , C 0 0 , K1 , DK((t)) 0 0 ,
[ ] [ ]
In addition, from the fuzzy controller of the form (10) and K2,l , 0 dl Wl (l (t)) 0 , P2,l , 0 ql,max 0 .
(13), we can get that
[[ Then, from (24) and (28), we have
]T [ L ]T ]T
Cx(t) q()(, t)d m2 l+1

z(t) = 0 (25)
DK((t))x(t) W(t) V (t) + z T (t)z(t) 6 lT (, t)l l (, t)d (29)
l=1 l
where
[ ]T where l , 1,l + 2,l , l M. It is immediate from (29)
W(t) , d1 W1 (1 (t))y1 (t) dm2 Wm2 (m2 (t))ym2 (t) . that
Using (25), we get V (t) + z T (t)z(t) 6 0 (30)

z T (t)z(t) = xT (t)(C T C + K T ((t))DT DK((t)))x(t) if the following inequalities hold:

( )T ( )
L L
+ q()(, t)d q()(, t)d l < 0, l M. (31)
0 0
( )2 Therefore, we have the following theorem:

m2 2l
Theorem 3.1: Consider the coupled PDE-ODE system (1)-
+ d2l Wl2 (l (t)) (, t)d .
l=1 2l1 (3) with the cost function (15) in 1 2 . Suppose that there
 6

exist matrices X > 0, Zw , Yl,k , w S1 , k S3 , l M, and Then, considering (36) and (37), pre- and post-multiplying
a scalar > 0 such that the following LMIs are satisfied: (35) by the matrix , respectively, we have
{
l,iijk < 0, i S1 1,l K1T K2,l
T
P1T P2,l
T
0
s1 1 l,iijk + 2 (l,iwjk + l,wijk ) < 0, i = w S1 , LI
1 1
0 0
l M, j S2 , k S3 , (32) l = 1
l I 0 0 < 0,
LI 0
where L1 I

l,iwjk K1,w
T
K2,l,k
T
P1T P2,l
T l M. (38)
LI 0 0 0
Thereby, it is immediate by Schur complement that the in-
l,iwjk ,
1
l I 0 0 ,
equalities (38) are equivalent to (31), which imply that V (t)
LI 0 satisfies (30). Based on [35], the following contents will
L1 I be given to prove that the closed-loop system of (1)-(3) is

1,l,iw 2,i 0 exponentially stable in 1 2 . From (31), there exists a
l,iwjk , 3,l,j 0.5 2 2
l
, sufficiently small scalar satisfying
4,l,k
l + I 6 0, l M. (39)
1,l,iw , [L1 (Ai X + Bi Zw ) + ],
It follows from (29) and (39) that for any non-zero (, t)
2,i , i + XTi , 3,l,j , 2aj 0.5 2 2
l ,
4,l,k , 0.5 2 2 + 2(l+1 l )1 bl Yl,k 2l , V (t) 6 (, t)22 Lx(t)2 6 (, t)2 (40)
[ ] l [ ]
P1 , CX 0 0 , P2,l , 0 ql,max 0 , where , min{, L}. Clearly, V (t) given by (16) satisfies
[ ] [ ]
K1,w , DZw 0 0 , K2,l,k , 0 dl Yl,k 0 . 1 (, t)2 6 V (t) 6 2 (, t)2 (41)
Then, there exists a fuzzy controller of the form (10) and where 1 , min{min (P ), } and 2 , max{max (P ), }.
(13) such that the resulting closed-loop system is exponentially From (40) and (41), we can get
stable in 1 2 and the cost function (15) satisfies
V (t) 6 21 V (t). (42)
J 6 Jb , xT0 X 1 x0 + 1
0 ()22 . (33)
Integrating (42) from 0 to t, gives V (t) 6
In this case, the control gain parameters Kw and Wl,k , w S1 , V (0) exp(21 t). From (41), one can further get
k S3 , l M are given by (, t)2 6 11 2 (, 0)2 exp(21 t). By Definition
2.1 with 1 = 11 2 and 2 = 21 , we can conclude
Kw = Zw X 1 , Wl,k = Yl,k 1 , w S1 , k S3 , l M.
that the closed-loop system of (1)-(3) is exponentially
(34)
stable in 1 2 , which means that x(t) 0 and
Proof: Assume that LMIs (32) hold. From (8) and (14),
(, t)2 0 as t in 1 2 . Moreover, using (15),
we can easily obtain that
rearranging
and integrating (29) from zeroTto infinity, we have
{
l,ii < 0, i S1 , l M J = 0 z T (t)z(t)dt 6 V (t)|t= 2
t=0 = x0 P x0 + 0 ()2 ,
s1 1 l,ii + 2 (l,iw + l,wi ) < 0, i = w S1 , l M,
1 1 i.e., (33) holds. The proof is complete.
s2 s3 In order to determine an upper bound as small as possible
where l,iw , j=1
l
k=1 hj ((, t))mk ( (t))l,iwjk . on the cost function (15), we seek to minimize the following
Then, based on Theorem 2.2 in [34], the above inequalities upper bound of Jb :
imply that the following inequalities are fulfilled:
Jb < (43)

s1
s1
l , hi ((t))hw ((t))l,iw where we want to minimize . By Schur complement, it
i=1 w=1 follows that (43) is equivalent to the following LMI
s1 s1 s2 s3
= Hiwjk (, , l )l,iwjk < 0, l M, xT0 0 ()2
i=1 w=1 j=1 k=1 X 0 > 0. (44)
(35)

where Hiwjk (, , l ) , hi ((t))hw ((t))hj ((, t))mk (l (t)), Therefore, a suboptimal guaranteed cost controller can be
l M. obtained by solving the following optimization problem:
Denote , diag{, I, I, I, I}, , diag{P, , } and let min subject to LMIs (32) and (44) (45)
U
P = X 1 , = 1 . (36)
where U , {X > 0, Zw , Yl,k , > 0, w S1 , k S3 , l
From (34) and (36), we have M}. The optimization problem (45) can be directly solved by
the mincx solver in MATLABs LMI CONTROL TOOLBOX
Kw = Zw P, Wl,k = Yl,k , w S1 , k S3 , l M. (37) [13].
 7

TABLE I A. Dimensionless Description

M ODEL PARAMETERS AND THEIR VALUES
To simplify the description of the nonlinear coupled system
mc = 100 kg Hypersonic rocket cars mass (46)-(48), it is worthwhile to define the dimensionless states,
l = 1 m Hypersonic rocket cars length desired states, and spatial position variable as w(t) , w(t) w ,
T (y,t)
a = 0.2 N sec2 /m2 Aerodynamic drag coefficient T (, t) , T , wdes , w , Tdes , T , and , yl ,
wdes Tdes

f = 0.5 N sec/m Viscous friction force coefficient where w = 100 and T = 1000. Then, define x(t) , w(t)
v = 0.4 kg/m s Dynamic viscosity wdes and (, t) , T (, t)Tdes . If we set u1 (t) , u1 (t)u1e
d = 7856 kg/m3 Density of the material and b() , b(l), where u1e , a w2 wdes 2
+ f wwdes , the
Cm = 460 J/kg K Specific heat of the material system (46)-(48) is briefly represented as
tc = 19 W/m K Thermal conductivity
p = 1.3716 m Perimeter
x(t) = m1 2
c a wx (t) + (mc w)
1
u1 (t)
1 1
H = 20 W/m2 K Convective heat transfer coefficient (2mc a wwdes + mc f )x(t), (49a)
a = 1 m2 Cross sectional area tc 1
t (, t) = (, t) + bT ()u2 (t)
em = 0.965 W/m2 K 4 Emissivity of the material d Cm l2 d Cm T
c = 5.67 108 Stefan-Boltzmann constant v w2 pH
T1 = 100 K Temperature of the medium in the + (x2 (t) + 2wdes x(t)) (, t)
ad Cm T ad Cm
immediate surrounding of the surface
pem cT 3 4
T2 = 40 K Temperature at a faraway place in the ( (, t) + 4Tdes 3 (, t)
ad Cm
direction normal to the surface
2
+ 6Tdes 2 (, t) + 4Tdes
3
(, t)) (49b)
subject to the boundary conditions
IV. N UMERICAL S IMULATION
(0, t) = 0, (1, t) = 0, (50)
We consider a coupled PDE-ODE with homogeneous Neu-
mann boundary conditions to study cruise control and surface and the initial conditions
temperature cooling for a hypersonic rocket car (see [21], x(0) = x0 , (, 0) = 0 (). (51)
[36]), where the nonlinear ODE and the semi-linear parabolic
PDE are used to describe motion dynamics and surface tem- The objective output is given by
perature distribution of the car, respectively: [[ ]T [ 1 50(0.5)2 ]T ]T
0.1x(t) e
z(t) = 0
(, t)d . (52)
mc w(t) = u1 (t) a w2 (t) f w(t), (46a) 0.1u1 (t)
2
0.1u2 (t)
pH
d Cm Tt (y, t) = tc Tyy (y, t) (T (y, t) T1 )
a B. T-S Fuzzy Modeling
v w2 (t) pem c 4
+ (T (y, t) T2
4
) The nonlinear coupled system (49)-(52) can be rewritten as
a a
T the form of (1)-(3) with the following parameters:
+ b (y)u2 (t) (46b)
a w 2
F (x(t)) = x (t) + Fc x(t), G(x(t)) = 0, C = 0.1,
with the boundary conditions mc
B(x(t)) = (mc w)1 , D = 0.1, d = 0.1I, = tc (d Cm l2 )1 ,
Ty (0, t) = 0, Ty (l, t) = 0 (47)
g(x(t)) = v w2 (ad Cm T )1 (x2 (t) + 2wdes x(t)), L = 1,
and the initial conditions f ((, t)) = (pem cT 3 )(ad Cm )1 ( 4 (, t) + 4Tdes 3 (, t)
2
w(0) = w0 , T (y, 0) = T0 (y) (48) + 6Tdes 2 (, t)) + fc (, t),
b() = (d Cm T )1 b(), q() = (2)1/2 e50(0.5)
2
(53)
where w(t) and w(t) are velocity and acceleration of the car,
respectively; u1 (t) denotes the force generated by the engine; where Fc = (2m1 1
c a w wdes + mc f ) and fc =
4pem cT 3 Tdes
3
T (y, t) is the temperature and depends on the time t as well ad Cm ad Cm .
pH

as the spatial coordinate y describing the surface position of
the car; u2 (t) , [u2,1 (t) u2,2 (t) u2,m2 (t)]T is the control
input; b(y) , [b1 (y) b2 (y) bm2 (y)]T is a known function
of y; w0 and T0 (y) are the initial values. The model parameters
and their values are given in Table I.
The control objective is to make the ODE state w(t) can
reach a desirable steady state wdes = 200 and the PDE
state can attain an equilibrium profile Tdes , respectively, with
a guaranteed cost as small as possible. Furthermore, from
the PDE subsystem (46b), we can get its equilibrium profile
Tdes = 505.1405758.
The numerical simulation is carried out via the finite dif-
ference method. Set sampling steps in time and space to be
0.001s and 0.05m, respectively. The initial values of the sys-
tem (49)-(52) are chosen as x0 = 1.9, 0 () = 0.7 cos().
The temperature profile and velocity of the open-loop coupled
system (49)-(52) are given in Fig. 2. It is clear from Fig. 2 that
the open-loop coupled system (49)-(52) is unstable and cannot
attain the desired steady states x(t) = 0 and (, t) = 0.
Assume that x1 6 x(t) 6 x1 and T1 6 (, t) 6 T2 .
Then, the local sector nonlinearity approach for the nonlinear
coupled system (1)-(3) with the settings in (53) can be used to
 8

2
u1 (t )
u2 (t )
( , t )
1

t (sec.) 0
0 5 10
t (sec.)

x (t )
Fig. 3. Trajectories of u1 (t) and u2 (t) of the coupled system (49)-(52)

t (sec.) where
Fig. 2. Open-loop temperature profile and velocity of the coupled system A1 = m1 1
c a w + Fc , A2 = mc a w + Fc ,
(49)-(52)
1 = 2 = 0, B1 = B2 = (mc w)1 ,
v w2 v w2
construct an exact T-S fuzzy coupled model in a local domain 1 = ( + 2wdes ), 2 = ( + 2wdes ),
ad Cm T ad Cm T
[x1 , x1 ] [T1 , T2 ]. Let
pem cT 3 pem cT 3
(t) = x(t), a1 = T + fc , and a2 = T + fc . (57)
ad Cm ad Cm
(, t) = 3 (, t) + 4Tdes 2 (, t) + 6Tdes
2
(, t). (54)
From Fig. 2, we set x1 = 2, x1 = 0.1, T1 = 1, and T2 = 1.
The maximum and minimum values of (t) and (, t) are Then, from (54), we get = 0.1, = 2, T = 4.5497,
x, x, T, and T, respectively, i.e., maxx(t)[x1 ,x1 ] (t) = , and T = 0.5101 through the simple numerical computation.
minx(t)[x1 ,x1 ] (t) = , max(,t)[T1 ,T2 ] (, t) = T, and Assume that five collocated piecewise uniform actuators and
min(,t)[T1 ,T2 ] (, t) = T. Then, (t) and (, t) can be sensors are utilized for the fuzzy control law (13), i.e., m2 = 5.
respectively rewritten as Set
(t) = h1 ((t)) + h2 ((t)), bl = 1, 1 = 0, l = 0.18, = m1 2 ,
(, t) = h1 ((, t))T + h2 ((, t))T (55) l+1 = l + , 2l1 = l + 0.5( l ), l M. (58)
where h1 ((t)), h2 ((t)), h1 ((, t)), h2 ((, t)) [0, 1], and
Then, we have l = 0.19, l M. For each l M, the
h1 ((t)) + h2 ((t)) = 1, h1 ((, t)) + h2 ((, t)) = 1. (56) membership functions in the subcontroller (13) are chosen as
T2 l yl (t)
m1 (l (t)) = yll(t)T 1 l l
(T2 T1 ) and m2 ( (t)) = l (T2 T1 ) . From
According to (55) and (56), we have h1 ((t)) = ( q() in (53), we can get m3 = 1. Then, the maximum value
)1 ((t) ), h2 ((t)) = 1 h1 ((t)), h1 ((, t)) = of q() in the every local interval can be obtained, such as
(T T)1 ((, t) T), and h2 ((, t)) = 1 h1 ((, t)). q
3,max = 0.3989 and q5,max = 0.0044. For the given initial
Define the fuzzy sets as Maximum and Minimum for conditions x = 1.9, () = 0.7 cos(), solving the
0 0
both ODE and PDE models. Then, the following exact T-S optimization problem (45) with parameters given in (57), (58)
fuzzy ODE and PDE models of two rules can be respectively and Table I, the control gain matrices in (10) and (13) can be
constructed as obtained, such as K1 = 0.9988, K2 = 0.9994, W1,1 =
ODE Plant rule 1 : 5.8212, W4,1 = 4.1689, W2,2 = 5.7114, and W5,2 =
IF (t) is Maximum 5.6595. The trajectories of u1 (t) and u2 (t) of the cou-
{ L pled system (49)-(52) are respectively indicated by the dotted
x(t) = A1 x(t) + 1 0 (, t)d + B1 u1 (t) and solid lines in Fig. 3. Moreover, the optimized value of
THEN
yc (t) = 1 x(t) can be obtained as = 414.6255. Fig. 4 shows the closed-
ODE Plant rule 2 : loop temperature profile and velocity of the coupled system
IF (t) is Minimum (49)-(52), where we can see that the proposed fuzzy controller
{ L stabilizes the coupled system (49)-(52), i.e., the closed-loop
x(t) = A2 x(t) + 2 0 (, t)d + B2 u1 (t) ODE and PDE states attain the desired steady states x(t) = 0
THEN
yc (t) = 2 x(t) and (, t) = 0, respectively. That is, under the suggested
PDE Plant rule 1 : fuzzy controller, the temperature profile and velocity of the
IF (, t) is Maximum system (46)-(48) are guided to their desired values wdes and
T , respectively. The actual
1000 1 value of the cost2 function is also
THEN t (, t) = (, t) + a1 (, t) + yc (t) + bT ()u2 (t) des
evaluated as J 0 ( 0 12 e50(0.5) (, t)d)2 dt +
PDE Plant rule 2 : 1000 ( )
0
0.01 x(t)2 + u1 (t)2 + u2 (t)2 dt = 0.0671 <
IF (, t) is Minimum Jb = 414.6170 < , i.e., the optimized upper bound of the
T
THEN t (, t) = (, t) + a2 (, t) + yc (t) + b ()u2 (t) cost function is ensured.

(! , t )
t (sec.)
x(t )
t (sec.)
Fig. 4. Closed-loop temperature profile and velocity of the coupled system
(49)-(52)
V. C ONCLUSIONS
The GCFC problem for a class of nonlinear coupled
parabolic PDE-ODE systems has been studied in this paper.
Based on the T-S fuzzy coupled parabolic PDE-ODE model,
a fuzzy controller via the ODE state feedback and the PDE
SOF employing locally collocated piecewise uniform actuators
and sensors is developed in terms of LMIs to exponentially
stabilize the nonlinear coupled system while providing an
optimized upper bound on the cost function. Finally, the
simulation results indicate that the proposed design method is
effective. In the future work, we will focus on the development
of the fuzzy dynamic output feedback control design for
nonlinear coupled parabolic PDE-ODE systems.
ACKNOWLEDGMENTS
The authors gratefully acknowledge the helpful comments
and suggestions from the Associate Editor and anonymous
reviewers, which have improved the presentation of this paper.
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 10

Huan-Yu Zhu was born in Heilongjiang, China,

on January 2, 1987. She received the B.S. degree
in Mathematics and Applied Mathematics and the
M.S. degree in Operations Research Control Theory
both from Heilongjiang University, Harbin, China,
in 2009 and 2012, and the Ph.D. degree in control
theory and control engineering from Beihang Uni-
versity, Beijing, China, in 2017, respectively.
Her current research interests include coupled
ODE-PDE systems, time-delay systems, discrete
systems, robust control, fuzzy modeling and control.

Huai-Ning Wu was born in Anhui, China, on

November 15, 1972. He received the B.E. degree
in automation from Shandong Institute of Building
Materials Industry, Jinan, China and the Ph.D. de-
gree in control theory and control engineering from
Xian Jiaotong University, Xian, China, in 1992 and
1997, respectively.
From August 1997 to July 1999, he was a Post-
doctoral Research Fellow with the Department of
Electronic Engineering at Beijing Institute of Tech-
nology, Beijing, China. Since August 1999, he has
been with the School of Automation Science and Electrical Engineering,
Beihang University (formerly Beijing University of Aeronautics and Astronau-
tics), Beijing. From December 2005 to May 2006, he was a Senior Research
Associate with the City University of Hong Kong (CityU), Kowloon, Hong
Kong. From October to December during 2006-2008 and from July to August
in 2010, 2011 and 2013, he was a Research Fellow with CityU. He is currently
a Professor with Beihang University and a Distinguished Professor of Yangtze
River Scholar with the Ministry of Education of China. His current research
interests include robust control, fault-tolerant control, distributed parameter
systems, and fuzzy/neural modeling and control.
Dr. Wu was a recipient of the China National Funds for Distinguished
Young Scientists. He serves as an Associate Editor of the IEEE Transactions
on Fuzzy Systems, and the IEEE Transactions on Systems, Man & Cybernet-
ics: Systems.

Jun-Wei Wang received his B.S. degree in mathe-

matics and applied mathematics and the M.S. degree
in system theory both from Harbin Engineering
University, Harbin, China, in 2007 and 2009, and
the Ph.D. degree in control theory and control engi-
neering from Beihang University, Beijing, China, in
2013, respectively.
From March to September in 2012, he was a
Research Assistant with the Department of Systems
Engineering and Engineering Management, City
University of Hong Kong. From September 2013 to
December 2015, He was a Teacher/Postdoctoral Researcher with the School of
Automation and Electrical Engineering, University of Science and Technology
Beijing. From August 2014 to July 2015, he was a Postdoctoral Researcher
in the Department of Electrical and Computer Engineering, Stevens Institute
of Technology, New Jersey USA. In January 2016, he joined the School of
Automation and Electrical Engineering, University of Science and Technology
Beijing, where he is currently a Lecturer. He is also a Postdoctoral Fellow
under the Hong Kong Scholars Scheme at City University of Hong Kong.
His research interests include robust control and filtering, stochastic sys-
tems, time-delay systems, distributed parameter systems, and fuzzy/neural
network modeling and control.

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