In the adaptive fuzzy control field for affine nonlinear systems, there are two basic configurations: direct and indirect. It is well known that the direct configuration needs more restrictions on the control gain than the indirect configuration. In general, these restrictions are difficult to check in practice where mathematical models of plant are not available. In this paper, using a simple extension of the universal approximation theorem, we show that the only required constraint on the control gain is that its sign is known. The Lyapunov synthesis approach is used to guarantee the stability and convergence of the closed loop system. Finally, examples of an inverted pendulum and a magnet levitation system demonstrate the theoretical results.
History
Publication title
International Journal of Control, Automation, and Systems
Volume
5
Issue
6
Pagination
621-629
ISSN
1740-7516
Department/School
School of Engineering
Publisher
Inderscience
Place of publication
USA
Rights statement
Copyright 2007 Institute of Control, Automation, and Systems Engineers