Direct Model Reference Adaptive Fuzzy Control of Networked SISO Nonlinear Systems

Mojtaba Ahmadieh Khanesar, Yesim Oniz, Okyay Kaynak, Huijun Gao

Research output: Contribution to journalJournal articleResearchpeer-review


This study presents a novel direct model reference fuzzy controller as applied to the control of a nonlinear system over a network subject to variable network induced time delay. The proposed method uses Pade approximation to cope with this condition. Unlike most approaches seen in the literature, which are mostly model based and necessitate the solution of a set of linear matrix inequalities, the proposed approach is online and can be applied to nonlinear systems with a little knowledge about the structure of the system and the values of its parameters. The stability of the proposed method is proved using an appropriate Lyapunov function. The approach is implemented and tested on a dc motor with nonlinear characteristics and nonlinear state-dependent disturbance. It is shown that it is capable of controlling the system over a network subject to variable network-induced time delay with bounded tracking error. In addition, the effect of packet losses is considered in the implementation part and it is seen that the system can be controlled under these conditions too.

Original languageEnglish
Article number7321039
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
Pages (from-to)205-213
Number of pages9
Publication statusPublished - 1 Feb 2016
Externally publishedYes


  • Fuzzy Control
  • Model reference adaptive control
  • Networked control systems
  • Takagi-Sugeno fuzzy model


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