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Fuzzy Adaptive Control for a Class of Non-Affine Systems via Time Scale Separation

A fuzzy adaptive control method is proposed for a class of non-affine nonlinear systems. By combing implicit function theorem and time scale separation, the control input is derived from the solution of a fast dynamical equation. Stability analysis shows that the proposed approach can guarantee the boundedness of the tracking error semi-globally, which can be made arbitrarily small by choosing appropriate design parameters. Tracking performance is illustrated by simulation results.