Interpretable fuzzy model reference adaptive controller for linear MIMO systems: MATLAB implementation and simulation toolkit
We present a MATLAB-based software package for designing and simulating an interpretable fuzzy model reference adaptive controller (FMRAC) for linear multi-input-multi-output (MIMO) systems with partially known dynamics. The toolkit implements a step-by-step procedure for synthesizing a fuzzy contro...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-09-01
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| Series: | SoftwareX |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2352711025002766 |
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| Summary: | We present a MATLAB-based software package for designing and simulating an interpretable fuzzy model reference adaptive controller (FMRAC) for linear multi-input-multi-output (MIMO) systems with partially known dynamics. The toolkit implements a step-by-step procedure for synthesizing a fuzzy controller that guarantees closed-loop stability by applying a rigorous frequency domain absolute stability criterion applicable to the time-varying nonlinearities inherent in adaptive systems. This stability-driven design directly enforces a constrained, sector-bounded structure, resulting in a controller that is interpretable-by-design with a simple, transparent rule base for each input–output channel. Furthermore, a key innovation is the automatic synthesis of a near-optimal nonlinear reference model, which is co-optimized within the same stability constraints to ensure high-performance, achievable trajectories. The toolkit’s effectiveness is demonstrated on a 3rd-order MIMO system, where it automatically derives a controller whose stability is formally guaranteed across a predefined plant uncertainty set, ensuring robust tracking with rapid error convergence following significant abrupt plant parameter variations. The proposed toolkit enables control engineers to design stable and transparent fuzzy adaptive controllers and to evaluate their performance easily in MATLAB. |
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| ISSN: | 2352-7110 |