Feedback linearization of nonlinear systems using fuzzy logic

The objective of this paper is to achieve tracking control of a class of un known nonlinear dynamical systems using a fuzzy logic controller (FLC). A r epeatable design algorithm and stability proof is examined for an adaptive fuzzy logic controller that uses basis vectors based on the fuzzy system, u nlike most standard adaptive control approaches which use basis vectors dep ending on the unknown plant (e.g. a tediously computed "regression matrix") . A epsilon-modification approach to adapt the fuzzy system parameters is i nvestigated. With mild assumptions on the state-feedback linearizable nonli near systems, using this adaptive fuzzy logic controller the uniform ultima te boundedness of the closed-loop signals is presented and that the control ler achieves tracking. In fact, the fuzzy system designed is a model-free u niversal fuzzy controller that can be applied for any system in the given c lass of systems.