Fuzzy model reference learning control with modified adaptation mechanism

In this paper different approach to adaptation mechanism for fuzzy model reference learning control (FMRLC) method will be introduced. In comparison to original method the proposed procedure shows larger robustness to responses to initial conditions and various reference signals. The main idea consists in adaptation of the inverse model - an important part of FMRLC. Moreover, in order to eliminate abrupt changes in the process of adaptation, the shape of the surface of the fuzzy controller is kept similar during whole control process. The advantages of the proposed modification are presented on control of magnetic suspension system.