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 STABLE ADAPTIVE CONTROL AND ESTIMATION FOR NONLINEAR SYSTEMS:
 NEURAL AND FUZZY APPROXIMATOR TECHNIQUES
 J.T.Spooner, M.Maggiore, R.Ordonez, and K.M.Passino
 Copyright 2002 John Wiley & Sons, Inc., New York.
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Chapter 9

CONTENTS OF THIS FOLDER
Please note that this folder contains files written in the C language.

-README				This file

-flpend.c			Sastry's feedback linearization for the inverted pendulum. Requires rungekutta.*

-rungekutta.c, rungekutta.h 	Files to implement the Runge-Kutta numerical method for numerical integration

-cipend.c 			Indirect adaptive fuzzy control for the inverted pendulum. Requires rungekutta.* and cifuzz.*

-cifuzz.c, cifuzz.h 		Implements standard or Takagi-Sugeno fuzzy systems, modified to suit the indirect adaptive methods

-cdpend.c 			Direct adaptive fuzzy control for the inverted pendulum. Requires rungekutta.* and cdfuzz.*

-cdfuzz.c, cdfuzz.h		Implements standard or Takagi-Sugeno fuzzy systems, modified to suit the direct adaptive methods

-plots.m			Used to load and plot the output produced by either flpend.c, cipend.c or cdpend.c.