ABSTRACT
In this chapter, an adaptive fuzzy controller is developed for general multi-input single-output (MISO) nonlinear systems with time-varying characteristics and unknown system uncertainties. The system dynamics is modeled in fuzzy domain and a fuzzy inverse model is automatically constructed, which has the ability of uniquely determining the inverse relationship for each input–output pair (Xu and Shin, 2007). Based on this inverse model, a multilevel fuzzy controller (MLFC) is designed based on the fuzzy inverse model, which has an embedded hierarchical structure for each control variable to compensate for the time-varying parameters and external disturbance. The stability of the MLFC-MISO controller is proved using input–output passivity theory. Finally, two simulation examples are presented to illustrate the effectiveness of this controller for the multivariable system under various system conditions with plant parameter variations and system uncertainties.
