Feedback linearization using TSK fuzzy approximants

This paper considers implementing the Takagi-Sugeno-Kang fuzzy models of control laws produced by feedback linearization. There are two main results: first, that TSK fuzzy models of feedback linearization control laws can be virtually as good as the exact nonlinear control law, at least in the case of the inverted pendulum problem. Second, the exact control law for the inverted pendulum problem is observed to be very flat near the desired operating point. This observation is consistent with the success of control laws based on local linearized models.