A robust tracking control scheme is proposed for nonlinear systems based on the T-S fuzzy model.
An ordinary fuzzy model is transformed to a fuzzy descriptor model. The tracking performance index is
designed, and the robust tacking controller design method presented based on linear matrix inequality. Computational
complexity is decreased, and conservation also reduced as the limitations on the undetermined
matrices are relaxed. The method is applied to control an inverted pendulum system, showing that the angle
and angular rate can track the reference signals accurately and rapidly. The simulation results demonstrate
effectiveness of the proposed method.