Fuzzy combination of control with switching

The major concern of the current paper is the presentation of a controller that consists in doing the composition of a linear and switching state-feedback, which proves to be more robust in relation to parametric variations of the traditional controllers. When the system state approaches the origin, the linear state-feedback controller will gradually replace the switching state-feedback controller. The smooth transition between the linear and switching state-feedback controllers is governed by the fuzzy rules. An example of application of this order is provided. Besides, we presented some findings while using the observer HGO, based on the supposition that the state of the system is not accessible.