This project proposes a method of PID-like adaptive fuzzy controller design for a linear time-invariant single-input and single-output dynamic plant. The plant transfer function is assumed to be partially known. The controller operates in the direct adaptation mode with the output feedback and a nonlinear reference model, which provides better closed loop response parameters than the system with a PID linear controller. The closed loop stability is guaranteed during the adaptation process. The fuzzy controller is assumed to be a nonlinearity in a bounded sector, and is defined by highly interpretable fuzzy rules. The absolute stability criterion for the system, containing PID like fuzzy controller is delivered. A design procedure which generalizes and significantly extends results reported so far in the literature and considerably automates the searching process
of a nonlinear adaptive fuzzy controller is provided.