Direct adaptive fuzzy control for MIMO processes

Fuzzy controllers are now part of the common control tools, and several different approaches for their design have been proposed in the literature. This paper presents a direct adaptive fuzzy controller for unknown nonlinear systems. Starting from the single step ahead direct adaptive control approach, a multiple steps ahead direct adaptive control scheme is presented. These approaches have been both developed at IRIDIA in the framework of the FAMIMO Esprit project. The strength of the second method is to overcome the problems related with the first approach, such as its inability to control nonminimum phase systems, at the price of increased computational load, and a deeper knowledge of the model of the system