Direct model reference Takagi-Sugeno fuzzy control of SISO nonlinear systems

Mojtaba Ahmadieh Khanesar*, Okyay Kaynak, Mohammad Teshnehlab

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review


This study presents a novel direct model reference fuzzy controller. It relaxes the special conditions on the reference model that is required by some of the approaches described in the literature, as well as covering a more general class of Takagi-Sugeno (T-S) systems. The stability of the proposed method is proved using a proper Lyapunov function. In addition, the effects of modeling errors on the proposed controller are considered, and a robust modification algorithm to alleviate this problem is introduced and analyzed. The proposed method is then simulated on a flexible joint robot in a feedback linearization form and on Chuas chaotic electrical circuit. Finally, it is implemented and tested on a nonlinear dc motor with nonlinear state-dependent disturbance.

Original languageEnglish
Article number5763771
JournalIEEE Transactions on Fuzzy Systems
Issue number5
Pages (from-to)914-924
Number of pages11
Publication statusPublished - Oct 2011
Externally publishedYes


  • Fuzzy control
  • model reference adaptive control
  • Takagi-Sugeno (T-S) fuzzy model


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