On design of a switching controller for nonlinear systems with unknown parameters based on a model reference approach

Deals with nonlinear plants subject to unknown parameters based on a model reference approach. The nonlinear plant is represented by a fuzzy plant model. A switching controller is designed based on the fuzzy plant model to drive the system states of the nonlinear plant to follow those of a reference model. An application example on controlling an inverted pendulum on a cart is given to illustrate the design procedure of the proposed switching controller.