Controlling a complex uncertain dynamic system often entails a heuristic approach of directly forming the control laws from experience. Recently, it is well accepted that the control law of fuzzy if-then rule type is a practical alternative for such large-scale uncertain systems for which mathematical models are either unavailable or futile. When multiple performance objectives are involved, however, the fuzzy-logic based controller design becomes quite problematic because the multiple objectives may render logically inconsistent control rules due to their competing nature.
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