A new indirect adaptive fuzzy control for a class of MIMO nonlinear discrete-time systems

A new indirect adaptive fuzzy control scheme is developed for a class of nonlinear discrete-time multi-input multi-output systems. To avoid the possible controller singularity problem, the controller, which is designed by fuzzy logic systems, is derived from quadratic performance index, and the time-varying gain adaptive laws are used to adjust the unknown parameters. The proposed design scheme guarantees that all the signals in the resulting closed-loop system are bounded, and the the estimated value of generalized tracking error converges to a small neighborhood of the origin.