Dynamic hierarchical fuzzy systems: analysis and design using a state space model

General formulae for generic hierarchical fuzzy systems (HFS) are derived using a recursive approach and various special cases are catered for. A discrete time dynamic hierarchical fuzzy controller (HFC) is analysed and a design method for the HFC is presented. Further a sufficient condition for the stability of the combined global HFS and HFC are presented and some examples are presented to illustrate the stability theorem.