Controlled Synchronization of a Mechanical System in a Fuzzy Scheme*

This paper deals with controlled synchronization of a mechanical system in a Takagi-Sugeno fuzzy model scheme. We present a mechanical system formed by two pendulums in a masterslave configuration. The synchronization objective is to match the slave movements to those of the master. We propose a Takagi-Sugeno representation of nonlinear systems, from which the difference between the master and slave positions are represented by local linear input-output relations by fuzzy IF-THEN rules. The performance of the mechanical system in the fuzzy scheme proposed, is illustrated numerically and experimentally.