Indirect Adaptive Control of Nonlinear Systems
نویسنده
چکیده
This paper proposes a novel adaptive control law for nonlinear systems using Takagi-Sugeno fuzzy system. Takagi-Sugeno fuzzy system is used to identify nonlinear system components theta alpha and theta beta. Stable Indirect Adaptive control law is such that it has two control components one is certainty equivalence control and other is sliding mode control. Sliding mode controller is used to ensure the stability of Lyapunov Function. Stability of adaptive control law is tested on two nonlinear systems cart pole system and ball beam system. Simulation is performed on nonlinear systems using MATLAB. Keywords— Fuzzy System, Lyapunov Function, Indirect Adaptive Control, Cart Pole System, Ball Beam System
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