This paper presents a design method of fuzzy controller based on TSK fuzzy model. By using the proposed method, we can design fuzzy controller mathematically, which guarantees the stability of fuzzy system. We derived a theorem related to the stability of fuzzy system. In that theorem, we show that the fuzzy system has the same stable state transition matrix as we desire. The validity of the proposed method is shown through an experiment of DC motor velocity control.

Based on Bernstein` s (1967) theoretical tenets that skill consists in organizing movement elements (e. g. , body links) into a controllable unit with manageable degree of freedom through the application of appropriate equations of constraints, motor skill learning is theorized as the acquisition of efficient constraining of body segments involved in desired goal movements. To elucidate the spatial and temporal patterns of constraints, a golf swing movement by the skilled golfers and the novice players, respectively was filmed using high speed camera with 300fpt. Analyses were made of the spatial and temporal structures of changes in joint angles around shoulders, elbows, and wrists. Results indicated that marked differences existed between the skilled and the novice players in both spatial patterns and temporal relationships of angular changes. Specifically, the unskilled novice players were more frequent in angular changes in all related joints and were also bigger in amplitude of angular changes. Also noted in the unskilled was that the times of angular changes of body segments were generally late in the whole movement phase. These findings were interpreted to mean to support Bernsteinian tenets and to suggest that practice induces changes in constraints both spatially and temporally, so that skilled movements can be possible by efficiently redefining relationships among several body segments.