Fuzzy CMAC Neural Networks Based Feedback Linearization for MIMO Nonlinear Systems

A fuzzy CMAC neural network based controller that feedback linearizes a class of state feedback linearizable MIMO continuous time nonlinear systems with state space affine form is presented. The control action is used to achieve the desired tracking performance. A stability proof is given strictly in the sense of Lyapunov. It is shown that all the signals in the closed loop system are uniformly ultimately bounded.