In nonlinear systems, stability is one of the problems that have to be solved to make the system controlled. This thesis introduces the alternative approach to stabilize system by combining the T-S Fuzzy model and the finite-horizon Model Predictive Control (MPC). This research constructs the MPC based on Laguerre functions in the T-S models and proves the existence of the Lyapunov function. By applying this method to the system, an Inverted Pendulum on cart system, the output system shows a good performance. This controller can bring system back to the origin and reject the disturbance from inside and outside the system. The designed controller can hold the parameters of the plant alteration. From any alterations the output system can return to the origin and also reject the disturbance.

In nonlinear systems, stability is one of the problems that have to be solved to make the system controlled. This thesis introduces the alternative approach to stabilize system by combining the T-S Fuzzy model and the finite-horizon Model Predictive Control (MPC). This research constructs the MPC based on Laguerre functions in the T-S models and proves the existence of the Lyapunov function. By applying this method to the system, an Inverted Pendulum on cart system, the output system shows a good performance. This controller can bring system back to the origin and reject the disturbance from inside and outside the system. The designed controller can hold the parameters of the plant alteration. From any alterations the output system can return to the origin and also reject the disturbance.

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