A STABILITY APPROACH TO FUZZY CONTROL DESIGN FOR NONLINEAR-SYSTEMS

By the application of fuzzy set theory, a method for feedback control of nonlinear systems based on the principle of sliding mode control is developed, called fuzzy sliding mode control. The control method provides a simple way to achieve asymptotic stability of the systems. Other attractive features of the method include a minimal realization of the fuzzy controller and robustness against model uncertainties and external disturbances. In addition, the method is capable of handling the chattering problem inherent to sliding mode control simply and effectively. A simulation study of an inverted pendulum system is presented to demonstrate these features of the method. Also, it is indicated that the method is easy to use for practicing control engineers.