Fuzzy sliding mode controller design with fuzzy sliding mode observer

This paper addresses the design strategy of a decoupled fuzzy sliding mode controller and a fuzzy sliding mode observer on the basis of the Takagi-Sugeno's (T-S) fuzzy model. A class of fourth-order systems such as a cart-pole system could be well controlled and observed in both the pole hyperplane and the cart-hyperplane simultaneously by the proposed fuzzy controller and observer without increasing the number of fuzzy rules. The numerical simulation of a cart-pole system confirms the validity of the proposed approaches.