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A fuzzy-based technique for modelling both static and dynamic responses of the voltage in proton exchange membrane fuel cell energy power generation systems (PEMFC-EPGS) is presented. Based on dynamical effects present on the PEMFC, the technique requires lower calculation capacity than complex physical models. This modelling technique is validated by developing a fuzzy-based model of a user-designed PEMFC-EPGS comparing its accuracy and calculation time to a previously parameterised physical model. The technique is intended to support the design and simulation of control strategies and the development of PEMFC-EPGS models and hardware emulators. The simple structure of the models obtained with the technique results in a small calculation processing demand, this being an effective option for real-time and embedded implementations. Finally, the development and experimental validation of a fuzzy-based model in a low-cost emulator is presented. This emulator permits to evaluate control strategies and the behaviour of power systems interacting with the PEMFC-EPGS dynamics.