Contents I. Introduction
The well-known Tagaki-Sugeno (T-S) fuzzy model [13] is a convenient and flexible tool for handling complex nonlinear systems [11], where its consequent parts are linear systems connected by IF-THEN rules. Suppose that is the state vector with dimension is the control input with dimension , and are the disturbance and controlled output of the system with the same dimension , and denotes the number of IF-THEN rules, where each th plant rule has the form \begin{align*} & \mathrm{IF}{\quad}z_{1}(t)\,\text{is}\,N_{i1}\,\text{and}\ldots z_{p}(t)\,\text{is}\,N_{ip}\\ & \mathrm{THEN}{\quad}\begin{bmatrix}\dot{x}\\ z\end{bmatrix}=\begin{bmatrix}A_{i} & B_{1i} & B_{2i}\\ C_{i} & D_{11i} & D_{12i}\end{bmatrix}\begin{bmatrix}x\\ w\\ u\end{bmatrix}.\tag{1} \end{align*}
