Stable indirect adaptive fuzzy control for a class of SISO nonlinear systems

his paper proposed an indirect adaptive fuzzy control scheme for a class of unknown continuous-time nonlinear single-input single-output (SISO) dynamic systems. Within this scheme, the fuzzy systems are employed to approximate the unknown system dynamics. Based on these fuzzy approximations and a Lyapunov synthesis approach, suitable control laws and appropriate parameter adaptive algorithms are developed. It is shown that the proposed control scheme avoids the possible controller singularity problem, guarantes the convergence of the tracking error to zero and the global boundedness of all signals in the closed-loop system. Simulation results, performed on an inverted on a inverted pendulum system, are given to point out the good performance of the developed adaptive control approach.