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The tracking control of nonlinear systems based on the fuzzy-model-based approach has been presented. A fuzzy controller was designed to drive the system states of the nonlinear system to follow those of a reference model. Stability conditions were derived to guarantee the system stability. The finding of the parameters of fuzzy controller was formulated as a generalised eigenvalue problem. An application example on applying the proposed approach to a two-link robot arm was given.
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Lam et al. (2006) studied this question.
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