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

Table 3

The performance indices in 100 seconds.

Controller	rod1			rod2
	IAE (rad)	ITAE (rad · s)	ISV (N^2)	IAE (rad)	ITAE (rad · s)	ISV (N^2)
DAFSMC with CSW	1.4397	33.2521	1.6863𝑒+04	0.4722	6.6922	3.5550𝑒+03
DAFSMC with FSW	3.9996	97.6183	9.0121𝑒+03	2.1688	63.2731	1.2830𝑒+03
DAFSMC with VUFSW	0.5073	7.2268	8.6772𝑒+03	0.3844	6.1505	1.2590𝑒+03