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General adaptive observer-based fuzzy control of uncertain nonaffine systems

Boulkroune A., Tadjine M., M'Saad M., Farza M.

Archives of Control Sciences

2006

Vol. 16, no. 4

383-410

This paper focuses on the construction of an adaptive fuzzy output feedback control based on any adaptive fuzzy observer for a class of single-input-single-output SISO uncertain or ill-defined nonaffine nonlinear system. Indeed, the corrective term of the proposed observer involves a well defined design function which is shown to be satisfied by the commonly used high-gain based observers, namely for the usual high-gain observers and the sliding modes observers together with their implementable versions. The design of the underlying update law as well as the robust control term is based on an appropriate filtering of the output tracking error. This particularly allows to overcome yhe output observation error flitering or the necessity of the famous strictly positive real (SPR) condition.