Applications of a Fuzzy Brain Emotional Cerebellar Model ArticulationController for SIMO Nonlinear System Decoupling Control

This paper presents a Fuzzy Brain Emotional Cerebellar Model Articulation Controller (FBECMAC) for decoupling control of a class of single-input multi-output underactuated nonlinear systems. A decoupled sliding-mode framework is first constructed to transform the control objective into coupled error-surface stabilization, and the FBECMAC is then employed to approximate the ideal control law. An auxiliary robust compensator is introduced to suppress the residual approximation error and preserve closed-loop stability. In contrast to the earlier inconsistent manuscript statements, the effectiveness of the proposed method is evaluated only on the nonlinear ball-beam system considered in this paper. The simulation results show that the proposed controller stabilizes the beam angle and ball position simultaneously, reduces tracking error, and yields smoother control action than the conventional sliding-mode controller.