Robust adaptive sliding mode control using fuzzy modelling for a class of uncertain MIMO nonlinear systems

The controller proposed by Lin and Chen (see, IEE Proc. Control Theory Appl., 2002, 149, (3), pp. 193-201) has been suggested to be infeasible in practice due to the unknown of the controlled plant that exists in the controller. A modified result has been presented for the problem under a relatively stringent assumption. A detailed derivation has been presented.