This paper presents a robust mixed-sensitivity H controller design via loop-shaping methodology for a class of multiple-input multiple-output (MIMO) uncertain nonlinear systems. In order to design this controller, the nonlinear plant is first modeled as several linear subsystems by Takagi and Sugeno's (T–S) fuzzy approach. Both loop-shaping methodology and mixed-sensitivity problem are then introduced to formulate frequency-domain specifications. Afterward for each linear subsystem, a regional pole-placement output-feedback H controller is employed by using linear matrix inequality (LMI) approach. The parallel distributed compensation (PDC) is then used to design the controller for the overall system. Several experimental results show that the proposed method can effectively meet the performance requirements like robustness, good load disturbance rejection, and both tracking and fast transient responses even in the presence of parameter variations and load disturbance for the three-phase interior permanent-magnet synchronous motor (IPMSM). Finally, the superiority of the proposed control scheme is approved in comparison with the input–output linearization (I/O linearization) and the H2/H controller methods.

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