How to design a discrete supervisory controller for real-time fuzzy control systems

The task of the supervisory controller is to stabilize the systems states within a bounded region defined by designer. In this paper, a discrete approach to the solution of the stable fuzzy control system is presented. It is proved that the fuzzy control system equipped with the discrete supervisory controller is globally stable in the Lyapunov sense. Finally, a fuzzy controller with a discrete supervisory controller is applied to the balance control system, both in simulations and in the real-time implementation.