The previous step CMAC for online tuning robust fuzzy controllers

The previous step CMAC for online tuning robust fuzzy controllers is proposed in this paper. There are two processes in the proposed schemes: one is the robust fuzzy controller and the other is the previous step CMAC learning algorithm. The robust fuzzy controller can achieve a certain goal without concern for instability of the controlled system in the presence of significant plant uncertainties, if the nominal parameter is roughly estimated. In order to improve the performance of robust fuzzy controller, the nominal parameter should be adjusted. Thus, a previous step CMAC learning algorithm under the robust fuzzy control structure is employed for online tuning the nominal parameter. Finally, simulation results demonstrate the excellent capability of the proposed schemes for improving the output performance.