Abstract:

This paper deals with a nonlinear adaptive control design based on synergetic control,
which also uses fuzzy systems to approximate the dynamics of nonlinear systems. The stability of
the closed-loop system is ensured by the Lyapunov synthesis in the sense that all the signals are
bounded, and the controller parameters adjusted by adaptation laws. The proposed algorithm is
applied to an inverted pendulum to track a sinusoidal reference trajectory. Simulations and
discussion are presented to illustrate the new robust adaptive fuzzy synergetic control described
in this work.