Two synchronized pendulums in a fuzzy variable structure

In this paper we present a variable structure system representation, in a fuzzy point of view. This approach is shown in a system of two synchronized pendulums in master/slave scheme. The synchronization objective is to match the slave movements to those of the master. A fuzzy model is developed by a Takagi-Sugeno representation of nonlinear systems, from which the difference between the master and slave positions are represented by local linear input-output relations by fuzzy IF-THEN rules. Thus, a variable structure is originated since each fuzzy rules express a structure and an operation condition. The performance of the fuzzy variable structure proposed is illustrated numerically.