A Lyapunov function based direct model reference adaptive fuzzy control

In this paper, a direct Model Reference Adaptive Fuzzy Control (MRAFC) scheme is developed for the plant model whose structure is represented with the fuzzy state space model. The MRAFC scheme is proposed to provide asymptotic tracking of a reference signal for the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee that all signals in the closed-loop system are bounded. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.