...Wen-Jer Chang In this paper, a fuzzy control design method is be developed for the plant model whose structure is represented by the Takagi-Sugeno fuzzy model. In each rule of the Takagi-Sugeno fuzzy model, the system is characterized by linear dynamics given in the controllability canonical form...

.... Design of a model-based fuzzy controller begins by assigning a certain common observability Gramian. The nonlinear systems considered in this paper are represented by Takagi-Sugeno fuzzy models. An application to the inverted pendulum system will be given to demonstrate the effects of the present design...