An Adaptive Fuzzy PI Controller for Nonlinear Systems

In this paper, a proportional-integral (PI) controller which integrates the fuzzy system is proposed to solve the tracking problem of a class of nonlinear systems. To achieve this purpose, the gain parameters of PI controller are adapted by proposing adaptation laws, such that an ideal control law for nonlinear systems can be estimated. In addition to a compensated controller is designed to assure the system stability. Both control laws are derived from the Lyapunov stability analysis, so that the system tracking ability and the error convergence can be guaranteed in the closed-loop system. Finally, three nonlinear systems, an oscillation system, an inverted pendulum system, and an electric drive system are respectively utilized to show the satisfactory performances of the proposed control scheme