On the Design of IT2 TSK FLCs

This chapter uses the TSK model structure for the design of IT2 FLCs. The approach is based on rigorous mathematical analyses for the design of IT2 FLCs, a development that plays a key role in this systematic design and analyses. TSK enables a mathematical formulation of FLCs that is very suitable for analytical design. The chapter begins by providing the preliminaries for IT2 TSK FLCs. Next, it presents a new inference engine for control design, and stability analyses for IT2 TSK FLCs. Then, the chapter describes a practical approach for the design of adaptive IT2 TSK FLCs for robot manipulators, and discusses the design of adaptive control with applications to robot manipulators. Finally, it presents robust control design.