An online learning fuzzy controller

A fuzzy controller with online learning capability is reported in this paper. The controller learns from a standard proportional plus derivative (PD) controller. It is implicitly assumed that the tuning parameters of the PD controller are already known. The learning is realized via Wangʹs table lookup scheme. The controllers are applied successfully to control an open-loop unstable system, i.e., the ball and plate system. Experimental studies have demonstrated the performance of the proposed controller.