Research Article
Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems
Table 2
The performance indices in 20 seconds.
| | Controller | rod1 | rod2 | | IAE (rad) | ITAE (rad · s) | ISV (N2) | IAE (rad) | ITAE (rad · s) | ISV (N2) |
| | DAFSMC with CSW | 0.8485 | 1.5820 | | 0.4191 | 0.3299 | 704.3263 | | DAFSMC with FSW | 2.3991 | 12.8742 | | 1.1504 | 5.3901 | 253.8947 | | DAFSMC with VUFSW | 0.3923 | 0.3867 | | 0.2852 | 0.3180 | 437.4319 |
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