Indirect fuzzy sliding adaptive control law for nonlinear systems

In this paper we are interested to indirect adaptive fuzzy control of nonlinear SISO systems. The plant model is represented by a Takagi-Sugeno (T-S) type fuzzy system. The indirect adaptive fuzzy controller is basis of model reference. The adaptive algorithm exploits the Lyapunov matrix and the sliding surface to adjust online the state matrices parameters of all local models. The Lyapunov approach has been used to analysis and check the stability of the global closed loop system. The plant state tracks asymptotically the state of the reference model for any bounded reference input signal. A mechanical system has been used to check the performances of the proposed controller.