Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="8"><hr/></td></tr><tr><td align="left">Input <svg height="11.9625" id="M328" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 10.375 11.9625" width="10.375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M352 391q0 -31 -27 -44q-14 -7 -24 6q-39 48 -84 48q-23 0 -39.5 -15t-16.5 -40q0 -43 73 -90q49 -32 70 -58t21 -57q0 -58 -62 -105.5t-129 -47.5q-40 0 -75.5 25t-35.5 52q0 28 32 46q7 4 15 3t11 -6q19 -31 48.5 -50.5t54.5 -19.5q34 0 54 19.5t20 42.5q0 43 -65 81
q-97 56 -97 123q0 50 51 96q19 17 58 32.5t62 15.5q37 0 61 -18t24 -39z" id="x1D460"></path></g>
<g transform="matrix(.012,-0,0,-.012,6.438,11.762)"><path d="M244 607q0 -25 -15.5 -43t-37.5 -18q-19 0 -32 13t-13 35q0 21 15 41t39 20q20 0 32 -14t12 -34zM222 91q-29 -33 -79 -68t-75 -35q-13 0 -19 7.5t-6 31t10 65.5l62 253q5 26 -1 26q-21 0 -72 -43l-13 24q43 40 91 68t71 28q30 0 10 -78l-71 -274q-8 -30 3 -30
q16 0 76 48z" id="x1D456"></path></g>
</svg></td><td align="center">PB</td><td align="center">PM</td><td align="center">PS</td><td align="center">ZE</td><td align="center">NS</td><td align="center">NM</td><td align="center">NB</td></tr><tr><td align="left">Output <svg height="16.450001" id="M329" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 12.55 16.450001" width="12.55" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M480 416q0 -21 -18 -41q-9 -11 -17 -7q-20 9 -42 9q-62 0 -140 -78q23 -69 88 -192q17 -31 27 -42t20 -11q16 0 62 46l17 -20q-64 -92 -119 -92q-35 0 -70 66q-41 73 -84 187q-36 -30 -62 -61q-27 -115 -35 -172q-41 -8 -78 -20l-6 6l140 612q7 28 0.5 34t-37.5 7l-34 1
l5 26q38 4 74 13.5t57 17t25 7.5q12 0 4 -32l-104 -443h2q35 38 97 93q39 35 65.5 56t62 41.5t58.5 20.5q19 0 30.5 -10t11.5 -22z" id="x1D458"></path></g>
<g transform="matrix(.012,-0,0,-.012,8.612,16.25)"><path d="M244 607q0 -25 -15.5 -43t-37.5 -18q-19 0 -32 13t-13 35q0 21 15 41t39 20q20 0 32 -14t12 -34zM222 91q-29 -33 -79 -68t-75 -35q-13 0 -19 7.5t-6 31t10 65.5l62 253q5 26 -1 26q-21 0 -72 -43l-13 24q43 40 91 68t71 28q30 0 10 -78l-71 -274q-8 -30 3 -30
q16 0 76 48z" id="x1D456"></path></g>
</svg></td><td align="center">PB</td><td align="center">PM</td><td align="center">PS</td><td align="center">ZE</td><td align="center">NS</td><td align="center">NM</td><td align="center">NB</td></tr><tr class="table-tr"><td colspan="8"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Fuzzy rule list of variable universe fuzzy switching control.

Mathematical Problems in Engineering

tab1

Table 1

Table 1: Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems 