Evolving fuzzy control of a hydraulic plantBlažič, Sašo (Avtor) Škrjanc, Igor (Avtor) evolving systemsevolving controlfuzzy controladaptive controlthree tanksThis paper presents a fuzzy model reference adaptive control method with an evolving structure. The approach builds on existing adaptive fuzzy controllers by enabling on-line addition of membership functions using a clustering-based mechanism. An additional stabilizing term inspired by sliding mode control is introduced to improve robustness. Two variations of this term are tested and compared. Simulation results on a nonlinear multi-tank system show good tracking performance, with the stabilizing term further improving control quality. The method is suitable for systems with changing dynamics and limited prior knowledge. 20252026-06-15 14:07:32Neznano183581sl