國立臺灣師範大學機電工程學系Yeh, Zong-Mu2014-10-302014-10-301994-06-240165-0114http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/36875This paper presents a systematic methodology to the design of a decentralized fuzzy logic controller for large-scale nonlinear systems. A new method which is based on a performance index of sliding mode control is used to derive fuzzy rules and an adaptive algorithm is used to reduce the chattering phenomenon. The simulation results of a two-inverted pendulum system and a two-link manipulator demonstrate that the attractive features of the proposed approach include a smaller residual error and robustness against nonlinear interactions.Fuzzy controladaptive controlinverted pendulum