This paper presents a methodology for the design of a binary tree multi-stage inference fuzzy controller in which the consequence in an inference stage is passed to the next stage as fact, and so forth. A new general method which is based on a performance index of the control system is used to generate fuzzy rule bases for bi-tree multi-stage inference. This proposed method can be used to reduce the complexity of fuzzy rule sets. The new method has been applied to control a truck-and-two-trailer system. The simulation studies showed that the proposed method is feasible.
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