Control of the uncertain drive system using a sliding mode fuzzy TSK controller

In the paper a novel fuzzy sliding mode control structure is proposed. The main controller is a TSK controller whose control surface is divided into local models. In the local models located further from the equilibrium point the control lows have the form of classical sliding mode controller. The sector specified as an origin is described as a function of classical PI controller. Due to the special location of the membership function a soft switching between sectors is guaranteed. The theoretical considerations are confirmed by a simulation and experimental study.