This chapter deals with robust nonfragile stabilization and tracking control problems of nonlinear systems described as bilinear Takagi-Sugeno fuzzy systems with parametric uncertainties and external disturbances. Besides, the objective is focused on the design of robust state-feedback controllers such that closed-loop systems are globally asymptotically stable with disturbance attenuation in spite of controllers gains variations. However, the quadratic Lyapunov function, proportional parallel distributed compensation approach, H \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${H_\infty }$$\end{document} synthesis criterion, and linear matrix inequalities techniques are provided to design sufficient stability conditions with decay rate. Finally, a numerical example based on nonlinear mass-spring-damper mechanical system is considered to demonstrate the effectiveness and the performances of the proposed control schemes.


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