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IEEE TRANSACTIONS ON CYBERNETICS
Reliable Mixed H∞ and Passivity-Based Control for
Fuzzy Markovian Switching Systems With
Probabilistic Time Delays and
Actuator Failures
Rathinasamy Sakthivel, Subramaniam Selvi, Kalidass Mathiyalagan, and Peng Shi, Fellow, IEEE
Abstract—This paper is concerned with the problem of reliable
mixed H∞ and passivity-based control for a class of stochas-
tic Takagi–Sugeno (TS) fuzzy systems with Markovian switching
and probabilistic time varying delays. Different from the existing
works, the H∞ and passivity control problem with probabilistic
occurrence of time-varying delays and actuator failures is con-
sidered in a unified framework, which is more general in some
practical situations. The main aim of this paper is to design
a reliable mixed H∞ and passivity-based controller such that
the stochastic TS fuzzy system with Markovian switching is
stochastically stable with a prescribed mixed H∞ and passiv-
ity performance level γ > 0. Based on the Lyapunov–Krasovskii
functional (LKF) involving lower and upper bound of probabilis-
tic time delay and convex combination technique, a new set of
delay-dependent sufficient condition in terms of linear matrix
inequalities (LMIs) is established for obtaining the required
result. Finally, a numerical example based on the modified
truck-trailer model is given to demonstrate the effectiveness and
applicability of the proposed design techniques.
Index Terms—Fuzzy system, mixed H∞ and passivity case,
probabilistic time delay.
I. I NTRODUCTION
ASED on the fuzzy sets theory, the Takagi–Sugeno (TS)
B fuzzy model is proposed in [23] which is regarded as
an effective measure for the modeling and controlling of
complex nonlinear systems. More precisely, the TS fuzzy
model is characterized by a family of fuzzy IF-THEN rules
that represent local linear input–output relations of a non-
linear system [26], [30]. Also, the existence of time delay
phenomenon generally brings negative effects to the dynamic
performance in various practical TS fuzzy model. In addition,
Manuscript received June 28, 2014; revised October 12, 2014 and
December 4, 2014; accepted December 10, 2014. This paper was recom-
mended by Associate Editor H. Zhang.
R. Sakthivel is with the Department of Mathematics, Sungkyunkwan
University, Suwon 440-746, Korea.
S. Selvi is with the Department of Mathematics, Chettinad College of
Engineering and Technology, Karur 639 114, India.
K. Mathiyalagan is with the Department of Mathematics, Anna
University Chennai-Regional Centre, Coimbatore 641 047, India (e-mail:
kmathimath@gmail.com).
P. Shi is with the College of Automation, Harbin Engineering University,
Harbin 150001, China, with the School of Electrical and Electronic
Engineering, University of Adelaide, Adelaide, SA 5005, Australia, and also
with the School of Engineering and Science, Victoria University, Melbourne,
VIC 8001, Australia (e-mail: peng.shi@adelaide.edu.au).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TCYB.2014.2382563
2168-2267 c 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
1
the time delays, especially time-varying one will be inevitable
in the dynamical systems and their existence may induce
oscillation, divergence, instability, and poor performance of
systems. Also, it is well known that the delay-dependent
results are less conservative than the delay-independent ones.
Moreover, in a real system, time delay frequently exists in a
random form, that is, some values of the time varying delay
are very large but the probability of the delay taking such val-
ues is very small and it can lead to less conservative result
only if we consider the range varying information of the time
delay [6]. Also, its probabilistic characteristic such as the
Bernoulli distribution and the Poisson distribution can also be
obtained by statistical methods [31]. Therefore, it is necessary
to consider the random delay effect in the study of stochastic
TS fuzzy model. Recently, the problem of robust H∞ control
for TS fuzzy systems with probabilistic interval time vary-
ing delay is discussed in [11] and the problem of H∞ fuzzy
output-feedback control with multiple probabilistic delays and
multiple missing measurements is studied in [5].
Moreover, fuzzy logic control is an effective approach for
modeling complex, uncertain, and highly nonlinear dynamic
systems. An area of particular interest has been the con-
trol of TS fuzzy model systems, with consequent emphasis
being placed on the stabilization of the TS fuzzy model
in terms of various kind of controllers. So far, there are
very few papers dealing with the reliable stabilization for
TS fuzzy model systems, not to mention the consideration
of the case where probabilistic occurrence of time-varying
delays, Markovian jumps and actuator failures exist in the
system model, due to the complexity of such a problem. In
this paper, we will investigate the problem of reliable con-
trol for stochastic TS fuzzy model. Reliable control system
possesses the ability to accommodate system failures auto-
matically and to maintain overall system performance in the
presence of component failures [8], [15], [22], [32]. Du [7]
obtained a new set of conditions for the existence of the
reliable controller which ensures that the TS fuzzy systems
with intermittent measurements is stochastically stable with
a prescribed H∞ performance level. Gu et al. [9] stud-
ied the problem of reliable control for interval time-varying
delay systems subject to actuator saturation and stochastic
failure.
On the other hand, the stochastic modeling play
an important role in many branches of engineering
applications [3], [19]. Many practical systems for example,
network control systems, models with random abrupt changes,
chemical process, power systems, biological systems, and so
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2 IEEE TRANSACTIONS ON CYBERNETICS

on can be represented by stochastic systems with Markovian
jumping parameters [28]. Therefore, the analysis and synthe-
sis of stochastic TS fuzzy systems with Markovian jump-
ing parameters have attracted increasing attention in recent
years [1], [14]. Although stochastic TS fuzzy system and
Markovian jump systems are respectively widely studied in the
past several years, relatively little work is done for stochastic
TS fuzzy system with Markovian switching and probabilistic
delay. Further, compared with stability, passivity theory is a
more general and important property of dynamical systems.
The importance of studying the passivity theory is that it will
keep the system internally stable [24]. Passivity theory has
played an important role in analysis and synthesis of dynam-
ical systems [2], [21]. Wu et al. [27] studied the problem of
mixed H∞ and passive filtering for singular systems with time
delays. Recently, the problem of robust mixed H∞ and passive
filtering for networked Markov jump systems with impulses
was studied in [20] and the problem of distributed H∞ filtering
for a class of Markovian jump nonlinear time-delay systems
over lossy sensor networks is discussed in [4]. Problems of
stability analysis and stabilization for TS fuzzy systems have
been widely investigated [16] but there has been relatively less
analysis of passivity-based control theory [17], [29]. However,
it should be mentioned that the problem of reliable mixed H∞
and passivity-based control design for a class of stochastic TS
fuzzy model in the presence of random delay and actuator
failures remains to be explored.
Moreover, reliable control design of the stochastic TS fuzzy
systems with random time delay are more complicated because
the membership functions of the fuzzy stochastic system
are also functions of the random premise variables. In this
paper, we investigate the problem of reliable mixed H∞ and
passivity-based control for stochastic TS fuzzy systems with
probabilistic time delay. The main objective of this paper is
to design reliable mixed H∞ and passivity-based control law
such that the stochastic TS fuzzy closed-loop system with
Markovian switching is stochastically stable about its equi-
librium point for all possible actuator failures. More precisely,
by constructing a proper Lyapunov–Krasovskii functional and
employing Schur complement together with free weighting
matrix approach, a new set of sufficient conditions are derived
to guarantee the stochastic stability of the closed-loop system
with mixed H∞ and passivity performance.
The main contributions of this paper are summarized as
follows.
1) In the proposed stochastic TS fuzzy model, the prob-
abilistic time delays occur according to a specified
Bernoulli distribution.
2) A unified framework is established for the controller
design in which the disturbance-rejection attenuation,
probabilistic time delays, and jumps are enforced.
3) The proposed results are more general because it can
guarantee the required results for fixed faults, fault
values in a range of interval and also normal operating
cases.
4) Sufficient conditions are derived, which depend not only
Finally, simulation results are performed based on the mod-
ified truck-trailer model to demonstrate the efficiency and
applicability of the developed control strategy.
II. P ROBLEM F ORMULATION AND P RELIMINARIES
Throughout this paper, the notations are fairly standard and
universal.
In many practical problems, external noises are inevitable
and more adequately described by random processes and in
this situation, the problem to be modeled by stochastic sys-
tem [19]. Consider the stochastic system with Markovian
switching which is represented by a TS fuzzy model and the
ηth rule of this stochastic TS fuzzy model is described as
η η η
Plant Rule η: if {θ1 (t) is M1 }, {θ2 (t) is M2 }, . . . , {θp (t) is Mp }
THEN

dx(t) = Aη (rt )x(t) + Adη (rt )x(t − τ (t)) + Bη (rt )u f (t)

+ Cη (rt )v(t) dt + Eη (rt )x(t)dw(t)
z(t) = Dη (rt )x(t)
x(t) = φ(t), for every t ∈ [−τM , 0] (1)
where η ∈ M, M = {1, 2, . . . , m}, and m is the number of
η
IF-THEN rules; Mϑ is the fuzzy set; x(t) ∈ Rn is the state
vector; θ (t) = {θ1 (t), θ2 (t), . . . , θp (t)}T is the premise vari-
able vector; u f (t) ∈ Rq is the control input of actuator fault;
v(t) ∈ Rs is the disturbance input vector; z(t) ∈ Rp is the out-
put vector; w(t) is Brownian motion or Wiener process defined
on a probability space (, F, {Ft }t≥0 , P) with E[w(t)] = 0,
E[w2 (t)] = t, E[w(i)w(j)] = 0 (i = j). Let {rt }, t ≥ 0 be a
right-continuous Markov chain on the probability space which
takes values in the finite state space S = {1, 2, . . . , N} with
generator  = (πij )N×N given by

  π δ(t) + O(δ(t)), if i = j
Pr r(t+δ(t)) = j/rt = i = ij
1 + πij δ(t) + O(δ(t)), if i = j
where δ(t) > 0 and lim O(δ(t))/δ(t) = 0, πij > 0
δ(t)→0
is the transition rate from mode i at time t  to mode j
at time t + δ(t) for i = j and πii = − N j=1,j=i πij .
Assume that the Markov chain rt is independent of the
Brownian motion w(t).
The set S comprises the operation modes of system and
also to simplify the notation in the sequel for each possi-
ble value of rt = i, i ∈ S. For instance, Aηi = Aη (rt ),
Adηi = Adη (rt ), Bηi = Bη (rt ), Cηi = Cη (rt ), Eηi = Eη (rt ),
Dηi = Dη (rt ).
Let λη (θ (t)) be the normalized membership function of
the inferred fuzzy set βη (θ (t)). By using the fuzzy blend-
ing method, the overall stochastic TS fuzzy system could be
inferred as follows:
m 
dx(t) = λη (θ (t)) Aηi x(t) + Adηi x(t − τ (t)) + Bηi u f (t)
η=1


on the size of the delay but also on the probability + Cηi v(t) dt + Eηi x(t)dw(t)
distribution of the delay taking values in some intervals. 
m
5) Moreover, the derived conditions for the existence of z(t) = λη (θ (t))Dηi x(t) (2)
controller gains are expressed with a trade-off parameter η=1
between the H∞ and passivity performance. 
6) A simple LMI approach is exploited and solvability of the where λη (θ (t)) = βη (θ (t))/ mη=1 βη (θ (t)) with βη (θ (t)) =
p η η
desired controller is designed by the feasibility of LMIs. M
ϑ=1 ϑ ϑ (θ (t)) in which Mϑ (θϑ (t)) is the grade of the
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SAKTHIVEL et al.: RELIABLE MIXED H∞ AND PASSIVITY-BASED CONTROL FOR FUZZY MARKOVIAN SWITCHING SYSTEMS 3

η
membership function of θϑ (t) in M ϑ m. Then, it can be seen Further, we define the following two mapping functions:
that, for η ∈ M and for all t, η=1 λη (θ (t)) = 1 and  
λη (θ (t)) ≥ 0. τ (t) for t ∈ C1 τ (t) for t ∈ C2
τ1 (t) = τ2 (t) = (7)
In practical problems, complete failure or partial failure of 0 else, τ0 else
actuators often occurs. The main aim of this paper is to design where τ̇1 (t) ≤ μ1 < ∞, τ̇2 (t) ≤ μ2 < ∞. It follows from (6)
a controller such that the closed-loop system can maintain sta- that C1 ∪ C2 = Z≤0 and C1 ∩ C2 = , where  is the empty
bility and performance, not only when all control components set. From (7), it can be seen that t ∈ C1 implies the event
are operating well but also in the presence of some component τ (t) ∈ [0, τ0 ] and t ∈ C2 implies the event τ (t) ∈ (τ0 , τM ]
failures. Taking this into consideration, the reliable control occurs. Next, define a stochastic variable as
input u f (t) can be defined as 
1, 0 ≤ τ (t) ≤ τ0

m α(t) = (8)
0, τ0 < τ (t) ≤ τM .
u f (t) = Gu(t) = λl (θ (t))GKli x(t) (3)
l=1 Further, more details about probability distribution related
where Kli is the state feedback controller gain to be designed issues, one can refer to [11].
and G is the actuator fault matrix defined as follows [12]; Remark 2: α(t) is Bernoulli distributed white sequences
0 ≤ G = diag{g1 , g2 , . . . , gq } ≤ G = diag{g1 , g2 , . . . , gq } ≤ with Prob{α(t) = 1} = E[α(t)] = α0 and Prob{α(t) = 0} =
1 − E[α(t)] = 1 − α0 . Furthermore, we can show that
G = diag{g1 , g2 , . . . , gq } ≤ I, in which the variables gk , E{α(t) − α0 } = 0 and E{(α(t) − α0 )2 } = α0 (1 − α0 ).
(k = 1, 2, . . . , q) quantify the failures of the actuators. Let Therefore, based on Assumption (H1) and Remark 2, (5)
us denote G0 = diag{g10 , g20 , . . . , gq0 } = (G + G/2), G1 = can be written in the following form:
diag{g11 , g21 , . . . , gq1 } = (G − G/2). Then the matrix G can 
be written as dx(t) = Ãηi x(t) + (1 − α(t))Adηi (t)x(t − τ2 (t))
  
G = G0 +
= G0 + diag υ1 , . . . , υq (4) + α(t)Adηi x(t − τ1 (t)) + Cηi v(t) dt + Eηi x(t)dw(t)
where |υk | ≤ gk1 , (k = 1, . . . , q). Substituting (3) into (2), z(t) = Dηi x(t)
we have the following closed-loop system: which is equivalent to

m 
m 
dx(t) = λη (θ (t))λl (θ (t)) dx(t) = Ãηi x(t) + (1 − α0 )Adηi (t)x(t − τ2 (t))
η=1 l=1 + (α(t) − α0 )Adηi (t) {x(t − τ1 (t)) − x(t − τ2 (t))}

 
× Aηi + Bηi GKli x(t) + Adηi x(t − τ (t))
 
+ Cηi v(t) dt + Eηi x(t)dw(t)

m z(t) = Dηi x(t)
z(t) = λη (θ (t))Dηi x(t).
η=1
Remark 1: It is noted that the time delays in overall real
time system may not be same, there may be some degree
of randomness and inconsistency exists. This arises because
of the stochastic nature of the system or some other cri-
terions. So, it is important to take randomness in delay
effects to reflect such a reality. It is worth pointing out that
the probabilistic characteristics of time delay occurring in a
stochastic fashion can often be calculated using some stan-
dard statistical methods such as Binomial, Poisson, and normal
distributions.
Throughout this paper, the time delay is assumed to satisfy
the following assumption.
Assumption (H1): The time-varying delay τ (t) satisfying
the condition 0 ≤ τ (t) ≤ τM , where τM is a positive scalar
representing the maximum delay. In practice, there exists a
constant τ0 satisfying 0 ≤ τ0 ≤ τM such that τ (t) takes values
in [0 : τ0 ] or (τ0 , τM ] with certain probability. Therefore, τ (t)
becomes a random variable which takes value in the intervals
[0 : τ0 ] or (τ0 , τM ] and the probability distribution of τ (t) is
assumed to be Prob{τ (t) ∈ [0 : τ0 ]} = α0 and Prob{τ (t) ∈
(τ0 : τM ]} = 1 − α0 , where 0 ≤ τ0 ≤ τM which is dependent
on the values of τ0 and τM .
To describe the probability distribution of the time varying
delay, we define two sets
C1 = {t : τ (t) ∈ [0, τ0 ]} and C2 = {t : τ (t) ∈ (τ0 , τM ]}. (6)
+ α0 Adηi x(t − τ1 (t)) + Cηi v(t) dt + Eηi x(t)dw(t)
(9)
(5) m m
where Ãηi = η=1  l=1 λη (θ (t))λl (θ (t))[(Aηi + Bηi GKli )],
[Adηi , Cηi , Eηi , Dηi ] = ml=1 λη (θ (t))[Adηi , Cηi , Eηi , Dηi ].
Define the state variables as follows; σ (t) = Ãηi x(t) +
α0 Adηi x(t − τ1 (t)) + (1 − α0 )Adηi (t)x(t − τ2 (t)) + (α(t) − α0 )
Adηi (t){x(t − τ1 (t)) − x(t − τ2 (t))} + Cηi v(t), g(t) = Eηi x(t).
Then, using the above equations, (9) with Markovian switching
can be written as
dx(t) = σ (t)dt + g(t)dw(t)
z(t) = Dηi x(t). (10)
Next, we recall the following definitions and lemma.
Definition 1: System (9) is stochastically stable with
v(t) = 0, if there exists a scalar M(r0 , φ(.)) for every initial
state φ(.) and the initial mode r0 = i0 ∈ S, the condition
 T 
lim E x(t) dt|r0 , x(s) = φ(s) < M(r0 , φ(.))
2
T→∞ 0
where x(t) denotes the solution of the system (9) under initial
condition at time t.
Definition 2 [27]: System (9) is stochastically stable with
given disturbance attenuation level γ > 0, if it is sta-
ble and the t response z(t) under zero initial condition sat-
isfies, E[ (−γ −1 βzT (s)z(s) + 2(1 − β)zT (s)v(s))ds] ≥
t 0
−γ 0 vT (s)v(s)ds for all t > 0 and any nonzero v(t) ∈
L2 [0, ∞], where β ∈ [0, 1] is weighting parameter that defines
the trade-off between H∞ and passivity performance.
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4 IEEE TRANSACTIONS ON CYBERNETICS

Lemma 1 [22]: Let A, H, L, V1 , and F are real constant ϕ̂4,4 = −(1 − μ2 )Q̂4 + M̂13 + M̂13
T
− M̂23 − M̂23
T
matrices of appropriate dimensions with F T F ≤ I, and scalar ϕ̂4,5 = M̂14
T
− M̂24T
− M̂13 , ϕ̂5,5 = −Q̂2 − M̂14 − M̂14 T
 > 0, and one has the following.  

1) HFL + LT F T H T ≤  −1 HH T + LT L. ϕ̂6,6 = −γ I, ϕ̂1 = col Xi Eηi T

, 05n
2) If V1 − HH T > 0, then (A + HF(t)L)T V1−1 (A +  
 

HF(t)L) ≤ AT (V1 − HH T )−1 A +  −1 LT L. ϕ̂2 = col τ0 Xi Eηi T

, 05n , ϕ̂3 = col (τM − τ0 ) Xi Eηi T
, 05n
   
ϕ̂4 = τ0 col Xi ATηi + YliT GBTηi , (α0 )Xi ATdηi , 0
III. R ELIABLE C ONTROL D ESIGN  

In this section, the problem of reliable mixed H∞ and (1 − α0 )Xi ATdηi , 0, Cηi
passivity-based control to be addressed for the stochastic TS    
fuzzy system (9) with known as well as unknown actuator ϕ̂5 = (τM − τ0 )col Xi ATηi + YliT GBTηi , (α0 )Xi ATdηi ,
 

fault matrix G and random time varying delays.

0, (1 − α0 )Xi ATdηi , 0, Cηi
Theorem 1: Assume that the condition (H1) holds. For √ 
given positive scalars τ0 , τM , μ1 , μ2 , scalars 0 < α0 < 1, √ √ √
Si = πi1 Xi . . . πi(i−1) Xi πi(i+1) Xi . . . πiN Xi
0 ≤ β ≤ 1 and known actuator fault matrix G, the Wi = −diag{X1 , . . . , Xi−1 , Xi+1 , . . . , XN }
Markovian switching stochastic TS fuzzy closed-loop sys-  T T
tem (9) is stochastically stable with a mixed H∞ and passivity ϕ̂6u = N̂u1 T
N̂u2 0 N̂u3 T T
N̂u4 06n
performance γ , if there exist symmetric positive definite matri-  T T
ϕ̂7v = M̂v1 M̂v2T 0 M̂v3 T M̂v4T 06n
ces Xi , Q̂r , r = 1, 2, 3, 4, Vq , q = 1, 2, and matrices N̂1p , N̂2p ,  T
M̂1p , M̂2p , p = 1, 2, 3, 4, Yli such that the following LMIs hold ˆ u = √τ0 N̂ T
 T 0
N̂u2 T
N̂u3 T
N̂u4 011n
u1
for all i ∈ S:   T
ˆ v = (τM − τ0 ) M̂ T
 T
M̂v2 0 M̂v3 T T
M̂v4 011n .
v1
(η,η,i)
ˆ < 0, η = 1, 2, . . . , M
 (11) Moreover, the desired reliable feedback control gain matrix
uv can be constructed as Kli = Yli Xi−1 .
(η,l,i) (l,η,i) Proof: In order to obtain the stability results for closed-loop
ˆ + 
 ˆ < 0, η < l, η, l = 1, 2, . . . , M (12) system (9), we consider the following LKF candidate:
uv uv

where u, v = 1, 2 V(x(t), t, i) = V1 + V2 + V3 + V4 (13)

⎡ √ ⎤
ˆ (η,l,i)
 ˆu ˆv βXi D̄Tηi where
(η,l,i)
⎢ ⎥
ˆ =⎢ ∗ ϕ̂10 0 0 ⎥ V1 = xT (t)Pi x(t)
uv ⎣ ∗ ∗ ϕ̂11 0 ⎦
t  0
t−τ
∗ ∗ ∗ −γ I
V2 = x (s)Q1 x(s)ds +
T
xT (s)Q2 x(s)ds
 T
D̄ηi = Dηi 015n t−τ0 t−τM
⎡ (η,l,i) ⎤ t  0
t−τ
ϕ̆ˆ Si ϕ̂61 ϕ̂62 ϕ̂71 ϕ̂72
⎢ ∗ + x (s)Q3 x(s)ds +
T
xT (s)Q4 x(s)ds
⎢ W i 0 0 0 0 ⎥⎥
ˆ (η,l,i) ⎢ ∗ ∗ ϕ̂10 0 0 0 ⎥ t−τ1 (t) t−τ2 (t)
 =⎢ ⎥
⎢ ∗ ∗ ∗ ϕ̂10 0 0 ⎥ 0  t 0  t
⎣ ∗ ∗ ∗ ∗ ϕ̂11 0 ⎦ V3 = σ (s)R1 σ (s)dsdθ +
T
gT (s)R1 g(s)dsdθ
∗ ∗ ∗ ∗ ∗ ϕ̂11
⎡ ⎤ −τ0 t+θ −τ0 t+θ
(ϕ̂m,n )6×6 ϕ̂1 ϕ̂2 ϕ̂3 ϕ̂4 ϕ̂5
⎢ ∗ −Xi 0 0 0 0 ⎥ −τ0  t −τ0  t
⎢ ⎥
⎢ ∗ ∗ −τ0 V1 0 0 0 ⎥ V4 = σ T (s)R2 σ (s)dsdθ + gT (s)R2 g(s)dsdθ.
ϕ̆ˆ (η,l,i)
=⎢
⎢ ∗ ∗ ∗ ϕ̂12 0 0 ⎥⎥ −τM t+θ −τM t+θ
⎣ ∗ ∗ ∗ ∗ −τ0 V1 0 ⎦
∗ ∗ ∗ ∗ ∗ ϕ̂12 Then by Ito’s formula, the stochastic differential of
V(x(t), t, i) can be obtained as
with ϕ̂10 = V1 − 2Xi , ϕ̂11 = V2 − 2Xi , ϕ̂12 = −(τM − τ0 )V2

dV(x(t), t, i) = £V(x(t), t, i)dt + 2xT (t)Pi g(t)dw(t)
ϕ̂1,1 = sym Aηi Xi + Bηi GYli + N̂21 + Q̂1 + Q̂3 + πii Xi where £ is the weak infinitesimal operator. Then from (13),
ϕ̂1,2 = α0 Adηi Xi + N̂11 + N̂22
T
− N̂21, ϕ̂1,3 = N̂11 + M̂21 we get £V(x(t), t, i) = £V1 + £V2 + £V3 + £V4 , where
ϕ̂1,4 = (1 − α0 )Adηi Xi + N̂23 + M̂11 − M̂21
T 
N
£V1 = 2xT (t)Pi σ (t) + gT (t)Pi g(t) + ij xT (t)Pj x(t) (14)
ϕ̂1,5 = −M̂11 + N̂24T
, ϕ̂1,6 = Cηi − (1 − β)Xi DTηi
j=1
ϕ̂2,2 = N̂12 + N̂12
T
− N̂22 − N̂22T
− (1 − μ1 )Q̂3 £V2 = x (t) (Q1 + Q3 ) x(t) − x (t − τM ) Q2 x (t − τM )
T T

ϕ̂2,3 = −N̂12 + M̂22 , ϕ̂2,4 = N̂13T

− M̂22 − N̂23T
+ M̂12 + xT (t − τ0 ) (−Q1 + Q2 + Q4 ) x (t − τ0 )
ϕ̂2,5 = N̂14 − M̂12 − N̂24 , ϕ̂3,3 = −Q̂1 + Q̂2 + Q̂4
T T
− (1 − μ1 ) xT (t − τ1 (t)) Q3 x (t − τ1 (t))
ϕ̂3,4 = −N̂13
T
+ M̂23T
, ϕ̂3,5 = −N̂14T
+ M̂24
T
− (1 − μ2 ) xT (t − τ2 (t)) Q4 x (t − τ2 (t)) (15)
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

SAKTHIVEL et al.: RELIABLE MIXED H∞ AND PASSIVITY-BASED CONTROL FOR FUZZY MARKOVIAN SWITCHING SYSTEMS 5

£V3 = τ0 σ T (t)R1 σ (t) + τ0 gT (t)R1 g(t) t  1 (t)

t−τ

t t − g (s)R1 g(s)ds = −
T
gT (s)R1 g(s)ds
− σ (s)R1 σ (s)ds −
T
gT (s)R1 g(s)ds (16) t−τ0 t−τ0

t−τ0 t−τ0 t
£V4 = (τM − τ0 ) σ (t)R2 σ (t) + (τM − τ0 ) gT (t)R2 g(t)
T − gT (s)R1 g(s)ds (21)
 0
t−τ  0
t−τ t−τ1 (t)
− σ (s)R2 σ (s)ds −
T
gT (s)R2 g(s)ds. (17)  0
t−τ  2 (t)
t−τ

t−τM t−τM − g (s)R2 g(s)ds = −

T
gT (s)R2 g(s)ds
t−τM t−τM
Combining (14)–(17), we can obtain
 0
t−τ

£V(x(t), t, i) − gT (s)R2 g(s)ds. (22)


≤ 2xT (t)Pi Ãηi x(t) + α0 Adηi x(t − τ1 (t))+(1 − α0 )Adηi (t) t−τ2 (t)
 t−τ1 (t)  t−τ (t)
× x(t − τ2 (t))+(α0 − α(t))Adηi (t)(x(t − τ1 (t) Let e1 = σ (s)ds, e2 = t−τ01 g(s)dω(s) e3 =
 t t
t−τ0  t−τ (t)
− x(t − τ2 (t))
t−τ1 (t) σ (s)ds, e4 = t−τ1 (t) g(s)dω(s)
 t−τ
e5 = t−τM2 σ (s)ds,
T 
N t−τ (t)
e6 = t−τM2 g(s)dω(s), e7 = t−τ20(t) σ (s)ds, and e8 =
+ xT (t)(Eηi Pi Eηi + Q1 + Q3 )x(t) + ij xT (t)Pj x(t)  t−τ0
j=1 t−τ2 (t) g(s)dω(s).
 For any matrices N1 , N2 , M1 , and M2 , the following
− x (t − τ0 ) Q2 − Q1 + Q4 x(t − τ0 ) − xT (t − τM ) Q2
T
equalities hold according to the Newton–Leibnitz formula:
× x (t − τM ) − (1 − μ1 )xT (t − τ1 (t)) Q3 x (t − τ1 (t))
2ζ1T (t)N1 [x(t − τ1 (t)) − x(t − τ0 ) − e1 − e2 ] = 0 (23)
− (1 − μ2 )xT (t − τ2 (t)) Q4 x (t − τ2 (t))
 2ζ1T (t)N2 [x(t) − x(t − τ1 (t)) − e3 − e4 ] = 0 (24)
+ Ãηi x(t) + α0 Adηi x(t − τ1 (t)) + (1 − α0 )Adηi (t)
2ζ1 (t)M1 [x(t − τ2 (t)) − x(t − τM ) − e5 − e6 ] =
T
0 (25)
× x(t − τ2 (t)) + (α0 − α(t))Adηi (t)(x(t − τ1 (t)
T 2ζ1T (t)M2 [x(t − τ0 ) − x(t − τ2 (t)) − e7 − e8 ] = 0 (26)
− x(t − τ2 (t)) × (τ0 R1 + (τM − τ0 )R2 )

× Ãηi x(t) + α0 Adηi x(t − τ1 (t)) + (α0 − α(t))Adηi (t)
(τ0 − τ1 (t))ζ T (t)N1 R−1
1 N1 ζ (t)
T
× (x(t − τ1 (t) − x(t − τ2 (t)) + (1 − α0 )Adηi (t)
  1 (t)
t−τ
× x(t − τ2 (t)) + τ0 gT (t)R1 g(t) − ζ T (t)N1 R−1
1 N1 ζ (t)ds = 0 (27)
T
t t−τ0
+ (τM − τ0 )g (t)R2 g(t) −
T
σ T (s)R1 σ (s)ds −1 T
τ1 (t)ζ T
(t)N2 R1 N2 ζ (t)
t−τ0
t
 0
t−τ t
− ζ T (t)N2 R−1
1 N2 ζ (t)ds = 0 (28)
T
− σ (s)R2 σ (s)ds −
T
g (s)R1 g(s)ds
T
t−τ1 (t)
t−τM t−τ0
(τM − τ2 (t))ζ T
(t)M1 R−1
2 M1 ζ (t)
T
 0
t−τ

− gT (s)R2 g(s)ds. (18)  2 (t)

t−τ

− ζ T (t)M1 R−1
2 M1 ζ (t)ds = 0 (29)
T
t−τM
t−τM
−1 T
Further, each integral term in (18) can be written as (τ2 (t) − τ0 )ζ T
(t)M2 R2 M2 ζ (t)
 0
t−τ
t  1 (t)
t−τ
− ζ T (t)M2 R−1
2 M2 ζ (t)ds = 0 (30)
T
− σ (s)R1 σ (s)ds = −
T
σ T (s)R1 σ (s)ds
t−τ2 (t)
t−τ0 t−τ0
t where ζ T (t) = [xT (t) xT (t
− τ1 (t)) xT (t − τ0 ) xT (t −
− σ (s)R1 σ (s)ds
T
(19) τ2 (t)) xT (t − τM )], NuT = T N T 0 N T N T ] and
[Nu1 u2 u3 u4
Mv =
T [Mv1T M T 0 M T M T ].
t−τ1 (t) v2 v3 v4
It follows from Lemma 1, the integral terms in (23)–(26)
 0
t−τ  2 (t)
t−τ
becomes:
− σ (s)R2 σ (s)ds = −
T
σ T (s)R2 σ (s)ds
− 2ζ T (t)N1 e2 ≤ ζ T (t)N1 R−1
1 N1 ζ (t) + e2 R1 e2
T T
(31)
t−τM t−τM
 0
t−τ −2ζ (t)N2 e4 ≤
T
ζ (t)N2 R−1
T
1 N2 ζ (t) + e4 R1 e4
T T
(32)
− σ T (s)R2 σ (s)ds (20) −2ζ (t)M1 e6 ≤
T
ζ T (t)M1 R−1
2 M1 ζ (t) + e6 R2 e6
T T
(33)
t−τ2 (t) −2ζ (t)M2 e8 ≤
T
ζ T (t)M2 R−1
2 M2 ζ (t) + e8 R2 e8 .
T T
(34)
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

6 IEEE TRANSACTIONS ON CYBERNETICS

Noting that By using Schur complement, it is easy to see that inequal-

⎡ t−τ (t) ⎤ ities (42)–(45) are equivalent to
1 ⎡ ⎤
 T  (η,l,i) u ℵv
E e2 R1 e2 = E ⎣ gT (s)R1 g(s)ds⎦ (35) (η,l,i)
 =⎣ ∗ −R1 0 ⎦ < 0, u, v = 1, 2 (46)
uv
⎡
t−τ0
⎤ ∗ ∗ −R2
t
  ⎢ ⎥ where
E eT4 R1 e4 = E ⎣ gT (s)R1 g(s)ds⎦ (36) ⎡ ⎤
t−τ1 (t)
ϕ (η,l,i) ϕ61 ϕ62 ϕ71 ϕ72
⎡ t−τ (t) ⎤ ⎢ ∗ −R1 0 0 0 ⎥
2 ⎢ ⎥
  (η,l,i) = ⎢ ∗ ∗ −R1 0 0 ⎥
E eT6 R2 e6 = E⎣ gT (s)R2 g(s)ds⎦ (37) ⎣ ∗ ∗ ∗ −R2 0 ⎦
t−τM ∗ ∗ ∗ ∗ −R2
⎡ ⎤  T T T
 0
t−τ ϕ6u = Nu1 Nu2 0 Nu3 Nu4 05n T T
  ⎢ ⎥  T T
E eT8 R2 e8 = E ⎣ gT (s)R2 g(s)ds⎦. (38) ϕ7v = Mv1 T
Mv2 0 Mv3 T T
Mv4 05n
t−τ2 (t)
√  T T
u = τ0 Nu1 Nu2T 0 Nu3 T T
Nu4 09n
  T T
Taking mathematical expectation on £V(x(t), t, i) and ℵv = (τM − τ0 ) Mv1 T
Mv2 0 Mv3 T Mv4T 09n .
using (18)–(38), we obtain (39), as shown at the top of the next
page, where (η,l,i) = ϕ (η,l,i) + N1 R1 −1 N1T + N2 R1 −1 N2T + Let Xi = P−1 −1 −1
i , V1 = R1 , V2 = R2 , Q̂r = Xi Qr Xi , r =
M1 R2 −1 M1T + M2 R2 −1 M2T and ϕ (η,l,i) is given in (40) with 1, 2, 3, 4, N̂1p = Xi N1p Xi , N̂2p = Xi N2p Xi , M̂1p =
 Xi M1p Xi , M̂2p = Xi M2p Xi , p = 1, 2, 3, 4. Now, pre- and post-
ϕ1,1 = sym Pi Aηi + Pi Bηi GKli + N21 multiplying (46) by diag{Ti , I, V1 , V2 , V1 , V2 , Ti , Xi } and and

N its transpose with Ti = diag{Xi , Xi , . . . , Xi } ∈ R5×5 , by using
+ Q1 + Q3 + πij Pj the inequality −Xi Vc−1 Xi ≤ Vc − 2Xi , c = 1, 2 and applying
j=1 Schur complement, we can obtain
⎡ ⎤
ϕ1,2 = α0 Pi Adηi + N11 + N22
T
− N21 , ϕ1,3 = N11 + M21 (η,l,i) ˜u 
(η,l,i)  ˜v
ϕ1,4 = (1 − α0 ) Pi Adηi + N23T
+ M11 − M21 , ϕ1,5 = N24 T
− M11 ˘ = ⎣ ∗ ϕ̂10 0 ⎦ < 0, u, v = 1, 2 (47)
uv
∗ ∗ ϕ̂11
ϕ2,2 = N12 + N12 − N22 − N22 − (1 − μ1 ) Q3
T T

ϕ2,3 = −N12 + M22 , ϕ2,4 = N13 T

− M22 − N23 T
+ M12 where
⎡ ⎤
ϕ2,5 = N14 − M12 − N24 , ϕ3,3 = −Q1 + Q2 + Q4
T T
ϕ̂ (η,l,i) Si ϕ̃61 ϕ̃62 ϕ̃71 ϕ̃72
⎢ ∗ Wi 0 0 0 0 ⎥
ϕ3,4 = −N13T
+ M23T
, ϕ3,5 = −N14 T
+ M24
T
⎢ ⎥
⎢ ∗ ∗ ϕ̂10 0 0 0 ⎥
ϕ4,4 = − (1 − μ2 ) Q4 + M13 + M13 T
− M23 − M23 T (η,l,i) =⎢ ⎥
⎢ ∗ ∗ ∗ ϕ̂10 0 0 ⎥
ϕ4,5 = −M24 T
− M13 + M14 T
, ϕ5,5 = −Q2 − M14 − M14 T ⎣ ∗ ∗ ∗ ∗ ϕ̂11 0 ⎦
    ∗ ∗ ∗ ∗ ∗ ϕ̂11
ϕ1 = col Eηi , 04n , ϕ2 = τ0 col Eηi R1 , 04n
 
ϕ3 = (τM − τ0 ) col Eηi R2 , 04n ⎡  ⎤
  ϕ̂m,n 5×5 ϕ̃1 ϕ̃2 ϕ̃3 ϕ̃4 ϕ̃5
ϕ4 = τ0 col Aηi + Bηi GKli R1 , (α0 ) Adηi R1 , 0, (1 − α0 ) ⎢ ∗ −Xi 0 0 0 0 ⎥
 ⎢ ⎥
× Adηi R1 , 0 (η,l,i) ⎢ ∗ ∗ −τ0 V1 0 0 0 ⎥
  ϕ̂ =⎢ ⎥
⎢ ∗ ∗ ∗ ϕ̂12 0 0 ⎥
ϕ5 = (τM − τ0 ) col Aηi + Bηi GKli R2 , (α0 ) Adηi R2 , 0 ⎣
 ∗ ∗ ∗ ∗ −τ0 V1 0 ⎦
× (1 − α0 ) Adηi R2 , 0 . ∗ ∗ ∗ ∗ ∗ ϕ̂12
From (39), it is obvious that  
 

ϕ̃1 = col T
Xi Eηi , 04n , ϕ̃2 = col τ0 Xi Eηi
T
, 04n
(η,l,i) + (τ0 − τ1 (t))N1 R−1 −1 T
1 N1 + τ1 (t)N2 R1 N2
T
 

+ (τM − τ2 (t))M1 R−1 −1 T ϕ̃3 = col (τM − τ0 ) Xi Eηi T

, 04n
2 M1 + (τ2 (t) − τ0 )M2 R2 M2 < 0
T

(41)    
ϕ̃4 = τ0 col Xi ATηi + YliT GBTηi , α0 Xi ATdηi , 0
is a convex combination of the terms (τ0 − τ1 (t)), τ1 (t),  

(τM − τ2 (t)), and (τ2 (t) − τ0 ). It follows from [31, Lemma 2] × (1 − α0 )Xi ATdηi , 0
that inequality (41) is true if and only if:  
ϕ̃5 = (τM − τ0 )col Xi ATηi + YliT GBTηi
(η,l,i) + τ0 N1 R−1 −1 T
1 N1 + (τM − τ0 )M1 R2 M1 < 0
T
(42)    

× α0 Xi ATdηi , 0, (1 − α0 )Xi ATdηi , 0

(η,l,i) + τ0 N1 R−1 −1 T
1 N1 + (τM − τ0 )M2 R2 M2 < 0
T
(43)
√ √ √ √ 
(η,l,i)
+ τ0 N2 R−1 T
1 N2 + (τM − τ0 )M1 R−1 T
2 M1 <0 (44) Si = πi1 Xi . . . πi(i−1) Xi πi(i+1) Xi . . . πiN Xi
(η,l,i) + τ0 N2 R−1 T
1 N2 + (τM − τ0 )M2 R−1 T
2 M2 < 0. (45) Wi = −diag{X1 , . . . , Xi−1 , Xi+1 , . . . , XN }
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

SAKTHIVEL et al.: RELIABLE MIXED H∞ AND PASSIVITY-BASED CONTROL FOR FUZZY MARKOVIAN SWITCHING SYSTEMS 7


m 
m  
E [£V(x(t), t, i)] ≤ λη (θ (t))λl (θ (t)) E ζ T (t) (η,l,i) + (τ0 − τ1 (t))N1 R−1 −1 T
1 N1 + τ1 (t)N2 R1 N2
T

η=1 l=1
 

+ (τM − τ2 (t))M1 R−1

2 M1
T
+ (τ2 (t) − τ0 )M2 R−1 T
2 M2 ζ (t) (39)
⎡ ⎤
(ϕm,n )5×5 ϕ1 ϕ2 ϕ3 ϕ4 ϕ5
⎢
⎢ ∗ −(Pi )−1 0 0 0 0 ⎥
⎥
⎢ ∗ ∗ −τ0 R1 0 0 0 ⎥
ϕ (η,l,i) =⎢ ⎥ (40)
⎢ ∗ ∗ ∗ −(τM − τ0 )R2 0 0 ⎥
⎣ ∗ ∗ ∗ ∗ −τ0 R1 0 ⎦
∗ ∗ ∗ ∗ ∗ −(τM − τ0 )R2

 T T
ϕ̃6u = N̂u1 T
N̂u2 T
0 N̂u3 T
N̂u4 05n which is equivalent to
 T T 
m 
m
ϕ̃7v = M̂v1 T
M̂v2 0 M̂v3T T
M̂v4 05n E [£V(x(t), t, i) + J(t)] ≤ ˜ (η,l,i) ζ̃ (t) (48)
λη λl ζ̃ T (t)
 T
˜ u = √τ0 N̂ T
 T
N̂u2 T
0 N̂u3 T
N̂u4 010n η=1 l=1
u1
   where ζ̃ T (t) = [ζ T (t) vT (t)] and  ˜ (η,l,i) = [ψ (η,l,i) + (τ0 −
˜ v = (τM − τ0 ) M̂ T M̂ T 0 M̂ T M̂ T 010n T
 v1 v2 v3 v4 τ1 (t))N1 R1 N1 + τ1 (t)N2 R1 N2 + (τM − τ2 (t))M1 R−1
−1 T −1 T
2 M1 +
T
−1 T (η,l,i) (η,l,i) −1
and the remaining parameters are defined as in (11). Finally, (τ2 (t) − τ0 )M2 R2 M2 ], with ψ = ϕ̆ + N1 R1 N1T +
if (47) is satisfied, the inequality E[£V(x(t), t, i)] ≤ −1 −1
N2 R1 N2 + M1 R2 M1 + M2 R2 M2 .
T T −1 T
 (39) gives
(η,l,i) 
−λEx(t)2 where λ = min λmin (− ˘ uv ) . Now by using From (48), it is obvious that
Dynkin’s formula, for all t ≥ τM , we have E[£V(x(t), t, i)] −
t ψ (η,l,i) + (τ0 − τ1 (t))N1 R−1 −1 T
1 N1 + τ1 (t)N2 R1 N2
T
E[£V(x(τM ), τM , i)] ≤ −λE[ τM x(s)2 ds]. This implies
⎡ t ⎤ + (τM − τ2 (t))M1 R−1 T −1 T
2 M1 + (τ2 (t) − τ0 )M2 R2 M2 < 0
 (49)
1
E ⎣ x(s)2 ds⎦ ≤ E[£V(x(τM ), τM , i)].
λ is a convex combination of the terms (τ0 − τ1 (t)), τ1 (t),
τM
(τM − τ2 (t)), and (τ2 (t) − τ0 ). Also, it follows from
The remaining proof follows by similar lines to that of [10], [31, Lemma 2] that the inequality (49) is true if and
it is clear that there exists a scalar α > 0 such that: only if:
⎡ t ⎤  

ψ (η,l,i) + τ0 N1 R−1 T −1 T
1 N1 + (τM − τ0 )M1 R2 M1 < 0 (50)
E ⎣ x(s)2 ds⎦ ≤ αE sup φ(s)2 . ψ + τ0 N1 R−1
(η,l,i) T
+ (τM − τ0 )M2 R−1 T
<0
s∈[−τ M ,0] 1 N1 2 M2 (51)
τM (η,l,i) −1 T −1 T
ψ + τ0 N2 R1 N2 + (τM − τ0 )M1 R2 M1 <0 (52)
Therefore, from the definition of V(x(t), t, i) and x(t) there ψ (η,l,i)
+ τ0 N2 R−1 T
1 N2 + (τM − τ0 )M2 R−1 T
2 M2 < 0. (53)
always exists a scalar ᾱ > 0 such that
⎡ T ⎤   By using Schur complement, it is easy to see that inequal-

ities (50)–(53) are equivalent to the following LMIs:
lim E ⎣ x(s) ds⎦ ≤ ᾱE
2
sup φ(s) 2 ⎡ √ T⎤
T→∞ s∈[−τ M ,0] ψ (η,l,i) ˘u ˘v
 βDηi
0 ⎢ ∗ −R 0 ⎥
< M(r0 , φ(.)). ˜ uv
 (η,l,i)
=⎢
⎣ ∗
1 0 ⎥ < 0 (54)
∗ −R2 0 ⎦
This implies that the closed-loop system (9) with v(t) = 0 ∗ ∗ 0 −γ I
is stochastically stable by Definition 1. where
Next, we show that closed-loop system (9) with nonzero ⎡ ⎤
v(t) has mixed H∞ and passivity performance γ . For this, we ϕ̆ (η,l,i) ϕ̆61 ϕ̆62 ϕ̆71 ϕ̆72
⎢ ∗ −R1 0 0 0 ⎥
define the following index for t > 0: ⎢ ⎥
ψ (η,l,i) =⎢ ∗ ∗ −R1 0 0 ⎥
t ⎣ ∗ ∗ ∗ −R2 0 ⎦

J(t) = γ −1 βzT (s)z(s) + 2(1 − β)zT (s)v(s) ∗ ∗ ∗ ∗ −R2
0
 where ϕ̆ (η,l,i) is given in (55), as shown at the top of the next
− γ vT (s)v(s) ds. page, ϕ1,6 = Pi Cηi − (1 − β)DTηi , ϕ6,6 = −γ I
   
ϕ̆1 = col Eηi , 05n , ϕ̆2 = τ0 col Eηi , 05n
By applying the similar procedure used above in the proof  
of stability, it can be calculated that ϕ̆3 = (τM − τ0 )col Eηi R2 , 05n
 
(η,l,i) ϕ̆4 = τ0 col Aηi + Bηi GKli R1 , α0 Adηi R1 , 0, (1 − α0 )

˜ ζ̃ (t)
E [£V(x(t), t, i) + J(t)] ≤ ζ̃ T (t)  × Adηi R1 , 0, Cηi R1
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8 IEEE TRANSACTIONS ON CYBERNETICS

⎡ ⎤
(ϕm,n )6×6 ϕ̆1 ϕ̆2 ϕ̆3 ϕ̆4 ϕ̆5
⎢
⎢ ∗ −P−1
i 0 0 0 0 ⎥
⎥
⎢ ∗ ∗ −τ0 R1 0 0 0 ⎥
ϕ̆ (η,l,i) =⎢ ⎥ (55)
⎢ ∗ ∗ ∗ −(τM − τ0 )R2 0 0 ⎥
⎣ ∗ ∗ ∗ ∗ −τ0 R1 0 ⎦
∗ ∗ ∗ ∗ ∗ −(τM − τ0 )R2

   T  T
ϕ̆5 = (τM − τ0 )col Aηi + Bηi GKli R2 , α0 Adηi R2 , 0 with B1ηi = BTηi 018n , B2ηi = 011n BTηi 07n , B3ηi =
  T  T  T
×(1 − α0 )Adηi R2 , 0, Cηi R2 012n BTηi 06n , Y1li = YliT 018n , Y2li = 011n τ0 YliT 07n ,
 T T  T
ϕ̆6u = Nu1 T
Nu2 0 Nu3 T T
Nu4 06n Y3li = 012n (τM − τ0 )YliT 06n .
 T T Proof: If the actuator failure matrix G is unknown then by
ϕ̆7v = Mv1 Mv2T 0 Mv3 T T
Mv4 06n using (4), the LMI conditions in (11) and (12) for the design
˘u √  T T of reliable state feedback controller can be obtained as
 = τ0 Nu1 T
Nu2 0 Nu3 T T
Nu4 010n
  T T (η,l,i)
˘v
 = (τM − τ0 ) Mv1 T
Mv2 0 Mv3 T Mv4T 010n (η,l,i)  
ˇˆ + sym BT Y + BT Y + BT Y
 =  1ηi 1li 2ηi 2li 3ηi 3li
uv uv
and other parameters are defined as in (46).
Let Xi = P−1 −1
i , V1 = R1 , V2
−1
= R2 , Q̂r = Xi Qr Xi , ˇˆ (η,l,i) can be obtained by replacing G
where u, v = 1, 2, and  uv
r = 1, 2, 3, 4, N̂1p = Xi N1p Xi , N̂2p = Xi N2p Xi , M̂1p = by G0 in 
(η,l,i)
ˆ uv . Further, it follows from Lemma 1 that:
Xi M1p Xi , M̂2p = Xi M2p Xi , p = 1, 2, 3, 4. Now, pre- and
post-multiplying (54) by diag{Ti , I, I, V1 , V2 , V1 , V2 , Ti , Xi , I} (η,l,i) (η,l,i)
and its transpose with Ti = diag{Xi , Xi , . . . , Xi } ∈ R5×5 , i =  ˇˆ +  B G GT BT +  −1 Y T Y
ˆ ≤  1ηi 1ηi 1 1 1ηi 1ηi 1li 1li
1, 2, 3, using the inequality −Xi Vc−1 Xi ≤ Vc − 2Xi , c = 1, 2 uv uv
−1 T
and applying Schur complement, we obtain (11) and (12). + 2ηi B2ηi G1 GT1 BT2ηi + 2ηi Y2li Y2li
This implies that for any nonzero v(t) ∈ L2 [0, ∞], we −1 T
+ 3ηi B3ηi G1 GT1 BT3ηi + 3ηi Y3li Y3li . (58)
have E[£V(x(t), t, i) + γ −1 βzT (s)z(s) + 2(1 − β)zT (s)v(s) −
γ vT (s)v(s)] ≤ 0. Integrating the above inequality from 0 to Then by using Schur complement, it is easy to see that (58)
t, we have J(t) ≤ −V(x(t), t, i) + V(x(0)) which implies that is equivalent to LMIs (56) and (57). Hence, the stochastic
J(t) ≤ 0 because V(x(0)) = 0 under zero initial condition and TS fuzzy system (2) with unknown actuator fault matrix G is
V(x(t), t, i) ≥ 0. Therefore, inequality in Definition 2 holds stochastically stabilized through the proposed mixed H∞ and
for all t > 0. Hence, we can conclude that the closed-loop passivity-based controller. The proof is completed.
system (9) has mixed H∞ and passivity performance γ . This
completes the proof.
Theorem 2: Under the condition (H1), for given positive IV. ROBUST C ONTROL D ESIGN
scalars τ0 , τM , μ1 , μ2 and scalars 0 < α0 < 1, 0 ≤ β ≤ 1 with In this section, our attention is focused on the design
unknown actuator fault matrix G, the Markovian switching of robust state feedback control law. The main purpose
stochastic fuzzy closed-loop system (9) is stochastically stable of this section is to obtain the conditions for the exis-
with mixed H∞ and passivity performance γ > 0, if there exist tence of a stabilizing state feedback reliable mixed H∞
symmetric positive definite matrices Xi , Q̂r , r = 1, 2, 3, 4, Vq , and passivity-based control law such that the resulting
q = 1, 2, matrices N̂1p , N̂2p , M̂1p , M̂2p , p = 1, 2, 3, 4, Yli and uncertain closed-loop system is stochastically stable with
there exist positive scalars 1ηi , 2ηi , and 3ηi such that the given disturbance attenuation level γ > 0. Consider
following LMIs hold for all i ∈ S: the uncertain stochastic TS fuzzy closed-loop system with
(η,η,i)
Markovian switching and random time varying delays in the
ˆ < 0, η = 1, 2, . . . , M following form:
 (56)
uv
(η,l,i) (l,η,i)

m 
m
dx(t) = λη (θ (t))λl (θ (t))
ˆ + 
 ˆ < 0, η < l, η, l = 1, 2, . . . , M (57)
uv uv η=1 l=1

where u, v = 1, 2 × (Aηi + Aηi (t))x(t) + Bηi GKli x(t)
  + α(t)(Adηi + Adηi (t))x(t − τ1 (t)) + (1 − α(t))
(η,l,i) 
ˇ
ˆ (η,l,i) × (Adηi + Adηi (t))x(t − τ2 (t)) + Cηi v(t) dt
ˆ = uv B̃ 
uv ∗ ˜ + Eηi x(t)dw(t) (59)
⎡ √ ⎤
(η,l,i) ˆ (η,l,i) 
 ˆu ˆv βXi D̄Tηi where Aηi (t) and Adηi (t) are representing norm-bounded
ˇˆ = ⎢ ⎢ ∗ ϕ̂10 0 0 ⎥
⎥, u, v = 1, 2 uncertainties.
uv ⎣ ∗ ∗ ϕ̂11 0 ⎦ Assumption (H2): Real valued matrices Aηi (t) and
∗ ∗ ∗ −γ I Adηi (t) represent the norm bounded parameter uncertainties
  with appropriate dimensions of the following structure:
B̃ = 1ηi B1ηi G1 Y1liT
2ηi B2ηi G1 Y2li
T
3ηi B3ηi G1 Y3liT
     
˜ = diag −1ηi I, −1ηi I, −2ηi I, −2ηi I, 3ηi I, −3ηi I Aηi (t) Adηi (t) = Hηi ηi (t) L1ηi L2ηi
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

SAKTHIVEL et al.: RELIABLE MIXED H∞ AND PASSIVITY-BASED CONTROL FOR FUZZY MARKOVIAN SWITCHING SYSTEMS 9

⎡ ⎤
(ϕ̂m,n )6×6 ϕ̂1 ϕ̂2 ϕ̂3 ϕ̂4 ϕ̂5
  ⎢ ∗ −Xi 0 0 0 0 ⎥
⎢ ∗ ∗ −τ0 V1 ⎥
ϕ̀1 ϕ̀2 ⎢ 0 0 0 ⎥
ϕ̃ (η,l,i) = , ϕ̀1 = ⎢ ∗ ∗ ∗ ϕ̂12 ⎥ (63)
∗ ϕ̀3 ⎢ 0 0 ⎥
⎣ ∗ ∗ ∗ ∗ −τ0 (V1 − 4ηi Hηi Hηi )
T 0 ⎦
∗ ∗ ∗ ∗ ∗ −(τM − τ0 )(V2 − 5ηi Hηi Hηi )
T

where Hηi , L1ηi , and L2ηi are known real constant matrices ϕ̃ (η,l,i) is given in (63), as shown at the top of the page
with appropriate dimensions. The class of parametric uncer- ⎡ ⎤
tainties ηi (t) that satisfy ηi (t) = [1 − Fηi (t)Jηi ]−1 Fηi (t) −4ηi I 5ηi Jηi 0 0
where Jηi are also a known matrices satisfying I − Jηi Jηi T >0 ⎢ ∗ −5ηi I 0 0 ⎥
ϕ̀3 = ⎣
and Fηi (t) are uncertain matrices assumed to be Lebesque ∗ ∗ −6ηi I 6ηi Jηi ⎦
measurable and satisfying Fηi T (t)F (t) ≤ I. ∗ ∗ ∗ −6ηi I
ηi  T T
In order to obtain the required result, we consider ϕ̀6u = N̂u1 N̂u2 0 N̂u3 N̂u4 010n
T T T
the following closed-loop system which is equivalent  T T
to (59): ϕ̀7v = M̂v1 T
M̂v2 0 M̂v3 T T
M̂v4 010n
   T  T T

m 
m
ϕ̂13 = Xi L1ηi T T T
Xi L2ηi 0 T
Xi L2ηi 02n
dx(t) = λη (θ (t))λl (θ (t))
 T
η=1 l=1
  ϕ̂14 = 6ηi Hηi 6ηi (α0 )Hηi 0 6ηi (1 − α0 )Hηi 02n
 T
× Aηi + Aηi (t) x(t) + Bηi GKli x(t)
 ` u = √τ0 N̂ T
 T
N̂u2 0 N̂u3 T T
N̂u4 015n
u1
+ α0 Adηi + Adηi (t) x(t − τ1 (t)) + (1 − α0 )   
 ` v = (τM − τ0 ) M̂ T M̂ T 0 M̂ T M̂ T 015n T

× Adηi + Adηi (t) x(t − τ2 (t)) + (α(t) − α0 ) v1 v2 v3 v4

× Adηi + Adηi (t) (x(t − τ1 (t)) − x(t − τ2 (t))) and other parameters are defined as in Theorem 1.
  Proof: The proof of this theorem follows immedi-
+ Cηi v(t) dt + Eηi x(t)dw(t) . (60) ately from the Theorem 1. In order to design the
Theorem 3: Assume that the conditions (H1) and (H2) hold. reliable controller for the uncertain closed-loop sys-
Given positive scalars τ0 , τM , μ1 , μ2 , scalars 0 < α0 < 1, tem (60), we consider same LKF functional candidate as
0 ≤ β ≤ 1 and for known actuator fault matrix G, the closed- in Theorem 1. Further, by replacing Aηi , Adηi by (Aηi +
loop system (60) is stochastically stable with the mixed H∞ Aηi (t)), (Adηi + Adηi (t)), respectively, in (9) and using
and passivity performance γ > 0, if there exist symmetric [19, Lemma 3] and applying Schur complement, we can
positive definite matrices Xi , Q̂r , r = 1, 2, 3, 4, Vq , q = 1, 2, obtain (61) and (62). Hence, the uncertain stochastic fuzzy
matrices N̂1p , N̂2p , M̂1p , M̂2p , p = 1, 2, 3, 4, Yli , and there closed-loop system (60) is stochastically stable with known
exist positive scalars 4ηi , 5ηi and 6ηi such that the following actuator fault matrix G and mixed H∞ and passivity
LMIs hold for all i ∈ S: performance γ > 0.
Remark 3: In Definition 2, β takes values on [0, 1]. If
(η,η,i) β = 1, Definition 2 reduces to the H∞ performance; and if
uv < 0, η = 1, 2, . . . , M (61)
(η,l,i)
uv (l,η,i)
+ uv < 0, η < l, η, l = 1, 2, . . . , M (62) β = 0, Definition 2 reduces to the passivity criterion.

where u, v = 1, 2 V. N UMERICAL S IMULATION

⎡ √ ⎤
˜ (η,l,i)
 `u `v βXi D̀Tηi In this section, in order to demonstrate the usefulness and
⎢ ∗ ϕ̂10 ⎥ applicability of the proposed controller design, a numerical
(η,l,i)
uv =⎢ ⎣ ∗
0 0 ⎥
⎦
∗ ϕ̂11 0 example based on the modified truck-trailer model with simu-
∗ ∗ ∗ −γ I lation result is provided. We consider the modified truck-trailer
 T model as in [25] and [29] with probabilistic time delays as
D̀ηi = Dηi 019n in (64), as shown at the bottom of the next page, where
⎡ ⎤ x1 (t) is the angle difference between truck and trailer; x2 (t) is
ϕ̃ (η,l,i) Si ϕ̀61 ϕ̀62 ϕ̀71 ϕ̀72 the angle of trailer; x3 (t) is the vertical position of rear end
⎢ Wi 0 0 0 0 ⎥ of trailer (see Fig. 1); α(t) is the Bernoulli distributed ran-
⎢ ⎥
˜ (η,l,i) ⎢ ∗ ∗ ϕ̂10 0 0 0 ⎥ dom variable defined in (8) and the parameter δ(rt ) ∈ [0, 1];
 =⎢ ⎥
⎢ ∗ ∗ ∗ ϕ̂10 0 0 ⎥ the parameters t̄ = 2s, l = 2.8m, L = 5.5m, v = −1.0,
⎣ ∗ ∗ ∗ ∗ ϕ̂11 0 ⎦ c = 0.7m/s and t0 = 0.5. Further, we assume that Markovian
∗ ∗ ∗ ∗ ∗ ϕ̂11 switching parameter rt has three different modes which are
⎡ ⎤
ϕ̂13 ϕ̂13 ϕ̂14 ϕ̂13 given by
⎢ 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 0 0 ⎥
ϕ̀2 = ⎢
⎢ 0 0 0 0 ⎥⎥
⎣ 0 0 0 0 ⎦
.
4ηi Jηi 0 0 0
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

10 IEEE TRANSACTIONS ON CYBERNETICS

Also, the transition probability matrix

 that relates three oper-
−2 0.8 1.2
ation modes is given by  = 0.6 −1.6 1 . Further,
0.9 0.8 −1.7
 
0.01 0 0
we have E(rt = 1) = 0 −0.01 0 , E(rt = 2) =
0 0.003 0
   
0 0 0.001 0 −0.008 0
0 0 0 , E(rt = 3) = −0.003 0 0 .
0 0 0.005 0 0 0
Let θ1 (t) = θ 2 (t) = θ3 (t) = θ (t) = x2 (t) + c(υ t̄/2L)x1 (t) + 
(1 − c)(υ t̄/2L) α(t)x1 (t − τ1 (t)) + (1 − α(t))x1 (t − τ2 (t)) .
Fig. 1. Truck trailer model.
Under the condition −179.42700 < θ (t) < 179.42700 ,
the nonlinear term sin(θ (t)) can be exactly represented as
in [13], sin(θ (t)) = h1 (θ (t)).θ (t) + h1 (θ (t)).α̂.θ (t) with
α̂ = 0.01/π , where h1 (θ (t)), h2 (θ (t)) ∈ [0, 1], and
h1 (θ (t)) + h2 (θ (t)) = 1. By solving the equations, the
membership functions h1 (θ (t)) and h2 (θ (t)) are obtained as
follows:

sin(θ(t))−α̂.θ(t)
θ(t).(1−α̂)
, θ (t) = 0
h1 (θ (t)) =
1, θ (t) = 0

θ(t)−sin θ(t)
, θ (t) = 0
h2 (θ (t)) = θ(t).(1−α̂)
0, θ (t) = 0
i = 1, 2, 3. With above chosen values, the stochas-
tic TS fuzzy model with Markovian switching can be
written as

2
 
dx(t) = λη (θ (t)) Aηi x(t) + (Adηi ) Fig. 2. State responses of the system for mixed H∞ and passivity case.
η=1

× α(t)x(t − τ1 (t) + (1 − α(t))x(t − τ2 (t)  T  T


+ Bηi u f (t) + Cηi v(t) dt + [Eηi x(t)]dw(t) B11 = B21 = l̄tυ t̄ 0 0 , B12 = B22 = 0.75υ l̄t
t̄
0 0 , B13 =
 T0 0

where x(t) = [x1 (t) x2 (t) x3 (t)]T and B23 = 0.5υ t̄

0 0 , C11 = C12 = C13 = C 21 = C22 = C23 =
 Tl̄t0
⎡ υ t̄ ⎤ 0 0.2 0 , E11 = E21 = E(rt = 1), E12 = E22 = E(rt = 2),
−c Lt0 0 0
⎢ E13 = E23 = E(rt = 3).
A11 = A12 = A13 = ⎣ c Ltυ t̄0 0 0⎥
⎦ In addition, we consider
c υ2Ltt̄0 υ t̄
2 2
t0 0    
⎡ ⎤ D11 = 0. 2 0.7 −0.04 , D12 = 0.5 0.2 −0.8
−(1 − c) Ltυ t̄ 0 0    
⎢ (1 − c) υ t̄ 0 0 0⎥ D13 = 0.3 0.1 −0.03 , D21 = 0.4 0.5 0.06
Ad11 = Ad12 = Ad13 =⎣ Lt0 ⎦    
D22 = 0.3 0.4 −0.7 , D23 = 0.1 −0.5 −0.02 .
(1 − c) υ2Ltt̄0
2 2
0 0
⎡ ⎤
−c Ltυ t̄0 0 0 Our aim is to design the state feedback controller gain in (3)
⎢ c υ t̄ 0⎥
A21 = A22 = A23 = ⎣ Lt0 0 ⎦ such that the closed-loop system (9) is stochastically stable
with the mixed H∞ and passivity performance attenuation
c βυ βυ t̄
2 t̄2
0
2Lt0
⎡
t0
⎤ level. Now, for the given values τ0 = 0.1, μ1 = μ2 = 0.2,
−(1 − c) Ltυ t̄0 0 0 with actuator failure rate G = 0.5 and β = 0.4, by solving the
⎢ (1 − c) υ t̄ 0⎥ LMIs in Theorem 1 with the help of the MATLAB LMI Tool
Ad21 = Ad22 = Ad23 = ⎣ Lt0 0 ⎦. box, we can get feasible solution which are not given here
(1 − c) βυ
2 t̄2
2Lt0 0 0 due to the page constraint. The corresponding gain matrices

⎡  ⎤
−c Ltυ t̄ x (t) + (1 − c) υ t̄ (α(t)x (t − τ (t) + (1 − α(t))x (t − τ (t)) + δ(r ) υ t̄ u f (t) dt
1 1 1 1 2 t
⎢ 0 Lt0 l̄t
0 ⎥
⎢ υ t̄ ⎥
⎢ c x1 (t) + (1 − c) υ t̄ (α(t)x1 (t − τ1 (t) + (1 − α(t))x1 (t − τ2 (t)) + 0.2v(t) dt ⎥
dx(t) = ⎢ Lt0 Lt0 ⎥ + E(rt )x(t)dw(t) (64)
⎢  ⎥
⎣ υ t̄ υ t̄ x (t) + (1 − c) υ t̄ α(t)x (t − τ (t) + (1 − α(t))x (t − τ (t) dt
⎦
t0 sin x2 (t) + c 2L 1 2L 1 1 1 2
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

SAKTHIVEL et al.: RELIABLE MIXED H∞ AND PASSIVITY-BASED CONTROL FOR FUZZY MARKOVIAN SWITCHING SYSTEMS 11

(a) (b)

Fig. 3. State responses of the considered system for two different case. State responses of system for (a) H∞ case and (b) passivity case.

for mixed H∞ and passivity case are obtained as follows: γ values of β = 0 (H∞ case) and β = 1 (passivity case).
    Finally, to show the effectiveness of the proposed controller,
19.9533 T 26.8218 T simulation results are presented in Figs. 2 and 3. The distur-
K11 = −92.6887 , K12 = −123.7609 bance input is assumed to be v(t) = 0.1 sin(0.2t) and initial
23.8081 31.5388 condition is x(0) = [0.7 0.5 −0.4]T . Simulation result for state
   
40.0997 18.5159 T responses of the nonlinear stochastic fuzzy system with mixed
K13 = −184.7384 , K21 = −81.8269 H∞ and passivity performance is presented in Fig. 2. The
47.4661 23.1031 state responses for both H∞ and passivity cases are presented
 T   in Fig. 3. More precisely, it can be easily seen from Fig. 2
24.4606 36.8994 T that the state trajectories converges quickly to the equilibrium
K22 = −107.6804 , K23 = −163.1816 . point due to the mixed conditions performance. The results
30.1854 45.9647 reveal that the mixed H∞ and passivity conditions yields bet-
Moreover, the minimum mixed H∞ and passivity distur- ter performance than by considering the H∞ and passivity
bance attenuation level is obtained as γmin = 1.2215. Further, conditions separately. So, mixed H∞ and passivity perfor-
when β = 0, the corresponding gain matrices for H∞ -based mance is performed well compare to other two performances.
control case are obtained as It can be concluded from Fig. 2 that the state converges to
    zero, therefore by Theorem 1 there exists a controller of the
20.8981 T 28.1415 T form (3) such that the system (9) is stochastically stable with
K11 = −99.4636 , K12 = −133.0292 mixed H∞ and passivity performance level γ . The simulation
26.7014 35.3860 result shows that the reliable mixed H∞ and passivity-based
 T  
42.0401 19.1826 T controller proposed in this paper is effective for the truck
K13 = −198.6461 , K21 = −86.4424 trailer system with probabilistic time delay.
53.3212 25.5898 Remark 4: It is worth pointing that, the obtained minimum
 T   performance index γmin value for mixed H∞ and passivity
25.3211 38.1382 T performance is better than the individual H∞ performance
K22 = −113.8243 , K23 = −172.3786 and passivity performance. Further, from Figs. 2 and 3, it
33.3826 50.8608 is observed that the state trajectories of the system in mixed
with a minimum H∞ performance index given by γmin = H∞ and passivity performance case are converges quickly to
2.3044. Similarly, when β = 1, the passivity-based control the equilibrium point compared to the state trajectories of the
case the corresponding gain matrices can be calculated as system in individual H∞ performance and passivity perfor-
    mance. Thus the results reveal the advantages of mixed H∞
20.8812 T 28.0992 T and passivity conditions over the individual H∞ performance
K11 = −99.5260 , K12 = −133.0824 and passivity performance criterions.
26.7277 35.4987
 T  
41.9930 19.1408 T
K13 = −198.6734 , K21 = −86.3523 VI. C ONCLUSION
53.3718 25.5613 In this paper, the problem of reliable mixed H∞ and
 T   passivity-based control for stochastic TS fuzzy system with
25.2825 38.0771 T
Markovian switching and random delays is investigated. By
K22 = −113.8696 , K23 = −172.2775
33.4353 50.8557 constructing a novel Lyapunov–Krasovskii functional, suf-
ficient conditions for the existence of state feedback reli-
with a minimum performance index given by γmin = 2.0022. able mixed H∞ and passivity-based controller is derived
It is noted that the optimized minimum mixed H∞ and passiv- by using LMI technique, free-weighting matrices approach
ity performance level γ is better than the optimized minimum and convex combination technique to ensure stability of the
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
12
Markovian switching stochastic fuzzy system in presence ran-
dom delays and actuator faults. It should be mentioned that
the desired state feedback reliable mixed H∞ and passivity-
based control can be obtained when the given LMIs are
feasible. Finally, an example has been considered to show
the effectiveness of the proposed controller. From the sim-
ulations results, it is observed that the proposed mixed
performance control design for stochastic TS fuzzy model
works well to asymptotically stabilize the systems. Further,
robust control problems for stochastic TS fuzzy systems
with Markovian switching via different control methods like
proportional-derivative, proportional-integral and proportional-
integral-derivative approach is an untreated topic. These issues
will be our future topics of research.
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Authors’ photographs and biographies not available at the time of publication.