Real time direct adaptive rule for fuzzy controller

The direct adaptive control algorithm is used to synthesize an adaptive fuzzy controller (FC) in real time, while a plant is undergoing changes. Design data for the FC are not known, hence the membership functions could not be constructed a priori. The control parameters, centers and widths of membership functions, are computed in real time directly from the system´s performance error. This adaptation technique does not require a plant identification stage, hence it is named direct adaptation