Adaptive fuzzy controller design via fuzzy Lyapunov synthesis

We describe a new approach to the design of adaptive fuzzy controllers. The controller's structure is determined through fuzzy Lyapunov synthesis, which is an extension of the classical Lyapunov synthesis method to the domain of computing with words. The closed-loop system is monitored and the controller's parameters are adapted based on the error between the desired and actual behavior of the Lyapunov function associated with the system.