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FUZZY SLIDING MODE CONTROL DESIGN FOR A CLASS OF NONLINEAR SYSTEMS WITH STRUCTURED AND UNSTRUCTURED UNCERTAINTIES

This paper presents controlling of a class of nonlinear systems with struc- tured and unstructured uncertainties using fuzzy sliding mode control. First known dy- namics of the system are eliminated through feedback linearization and then fuzzy sliding mode controller is designed using TS method, based on the Lyapunov method, which is capable of handling uncertainties. There are no signs of the undesired chattering phenom- enon in the proposed method. The globally asymptotic stability of the closed-loop system is mathematically proved. Finally, this method of control is applied to the inverted pendu- lum system as a case study. Simulation results show the system performance is desirable. Keywords: Nonlinear systems, Structure uncertainties, Unstructured uncertainties, Fuzzy, Sliding mode control