Fuzzy adaptive identification method based on Riccati equation and its application to ball-plate control system

We propose a fuzzy adaptive identifier for SISO systems with nonlinearities in their input terms. First, we mention briefly the fuzzy basis function expansion and the fuzzy approximator and derive a fuzzy model of SISO plants with input nonlinearities. Next, an adaptation law is derived that does not require strictly positive realness. Moreover, an adaptive identifier of the fuzzy model is given by using the proposed adaptation law. Finally, we apply the fuzzy identifier to a ball-plate apparatus and investigate the performance of the proposed fuzzy identifier by MATLAB simulation and experiment