A theoretical justification for nonlinear control property of a class of fuzzy logic controllers

In Sayyarrdsari, Homaifar, and Hogans (1993), a hybrid implementation of fuzzy and conventional PID controller was introduced and its application to a 2 degree of freedom robot manipulator arm was examined. A theoretical justification for that approach, based on the fact that “fuzzy systems are universal approximators” is presented in this paper.