j k + 1
ðÞ
=
X
r
i = 1
h
i
~
A
i
k
ðÞ
j k
ðÞ
+
~
A
1i
k
ðÞ
Hj k t
1
k
ðÞðÞ
+
~
B
i
kðÞvkðÞ+
~
E
i
kðÞHj k t
2
kðÞðÞ- kðÞg,
e
c
kðÞ=
X
r
i = 1
h
i
~
C
i
kðÞj kðÞ+
~
C
1i
kðÞHj k t
1
kðÞðÞ
+
~
D
i
kðÞvkðÞ+
~
F
i
kðÞHj k t
2
kðÞðÞ- kðÞg
ð16Þ
where
j kðÞ=
x
T
kðÞ x
T
c
kðÞ x
T
w
kðÞ
T
,
vkðÞ=
u
T
kðÞ v
T
kðÞ f
T
kðÞ
T
, H = I 00½,
~
A
i
kðÞ=
A
i
+ DA
i
kðÞ 00
pB
c
C
i
+ DC
i
kðÞðÞA
c
0
00A
w
2
6
4
3
7
5
+ d
k
pðÞ
000
B
c
C
i
+ DC
i
kðÞðÞ00
000
2
6
4
3
7
5
¼
D
A
i
kðÞ+ d
k
pðÞA
^
i
kðÞ,
~
A
1i
kðÞ=
A
1i
+ DA
1i
kðÞ
pB
c
C
1i
+ DC
1i
kðÞðÞ
0
2
6
4
3
7
5
+ d
k
pðÞ
0
B
c
C
1i
+ DC
1i
kðÞðÞ
0
2
6
4
3
7
5
¼
D
A
1i
kðÞ+ d
k
pðÞA
^
1i
kðÞ,
~
B
i
kðÞ=
B
0i
+ DB
0i
kðÞ B
i
B
1i
+ DB
1i
kðÞ
pB
c
D
0i
+ DD
0i
kðÞðÞpB
c
D
i
pB
c
D
1i
+ DD
1i
kðÞðÞ
00B
w
2
6
4
3
7
5
+
d
k
pðÞ
000
B
c
D
0i
+ DD
0i
kðÞðÞB
c
D
i
B
c
D
1i
+ DD
1i
kðÞðÞ
000
2
6
6
4
3
7
7
5
¼
D
B
i
kðÞ+ d
k
pðÞB
^
i
kðÞ,
~
E
i
kðÞ=
E
i
+ DE
i
kðÞ
pB
c
F
i
+ DF
i
kðÞðÞ
0
2
6
6
4
3
7
7
5
+ d
k
pðÞ
0
B
c
F
i
+ DF
i
kðÞðÞ
0
2
6
6
4
3
7
7
5
¼
D
E
i
kðÞ+ d
k
pðÞE
^
i
kðÞ,
~
D
i
kðÞ= pD
c
D
0i
+ DD
0i
kðÞðÞpD
c
D
i
pD
c
D
1i
+ DD
1i
kðÞðÞD
w
½+
d
k
pðÞD
c
D
0i
+ DD
0i
kðÞðÞD
c
D
i
D
c
D
1i
+ DD
1i
kðÞðÞ½
¼
D
D
i
kðÞ+ d
k
pðÞD
^
i
kðÞ,
~
C
1i
kðÞ= pD
c
C
1i
+ DC
1i
kðÞðÞ+ d
k
pðÞD
c
C
1i
+ DC
1i
kðÞðÞ
¼
D
C
1i
k
ðÞ
+ d
k
p
ðÞ
C
^
1i
k
ðÞ
,
~
F
i
k
ðÞ
= d
k
D
c
F
i
+ DF
i
k
ðÞðÞ
= pD
c
F
i
+ DF
i
kðÞðÞ+ d
k
pðÞD
c
F
i
+ DF
i
kðÞðÞ¼
D
F
i
kðÞ
+ d
k
pðÞF
^
i
kðÞ:
~
C
i
kðÞ= pD
c
C
i
+ DC
i
kðÞðÞC
c
C
w
½
+ d
k
pðÞD
c
C
i
+ DC
i
kðÞðÞ00½¼
D
C
i
kðÞ+ d
k
pðÞC
^
i
kðÞ
Then, equation (16) is equivalent to
Figure 2. Block diagram of the fuzzy-rule-dependent filter design.
246 Transactions of the Institute of Measurement and Control 37(2)
at Southeast University on January 17, 2016tim.sagepub.comDownloaded from