The paper investigates the construction of fuzzy controllers for a class of nonlinear systems. Our approach implements fuzzy partition to the state variables based on Lyapunov synthesis. The resulting control law is stable and able to exploit the dynamic variables of the system in a linguistic manner. The proposed method enables the designer systematically to derive the rule base of the control. We implement the scheme to both tracking and stabilizing control for a two-link rigid robot and overhead crane load swing. Numerical tests show the feasibility of the proposed control scheme.
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