A fazzy control synthesis is proposed along with the theory of sliding motion. Fuzzy control can be seen as saturated control, but also as variable structure control with a continuity in a boundary layer around the state space surface where the membership function of the predicate u is ZERO is different from zero. A guideline for the lookup table design is thus provided. Given certain conditions on membership functions, some stability results can be found and the performance-robustness trade-off can also be analyzed.
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