Fuzzy feedback linearization control for MIMO nonlinear system and its application to full-vehicle suspension system

The paper presents a novel fuzzy feedback linearization control of nonlinear multi-input multi-output (MIMO) systems for the tracking and almost disturbance decoupling (ADD) performances based on the fuzzy logic control (FLC). The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling. The feedback linearization control guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. As soon as the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic control immediately is applied via a human expert's knowledge to improve the convergence rate. One example, which cannot be solved by the previous paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by the proposed approach. In order to demonstrate the applicability, this paper has investigated a full-vehicle suspension system.