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This paper presents a novel and robust fuzzy controller. The controller has conventional fuzzy inputs membership functions but has Bang-bang subsequent outputs membership functions. The controller on-line adaptation is accomplished by tuning and selforganizing the input membership functions. New rules and membership functions are created online with sliding mode control knowledge base rules. The system's closed loop stability is assured for each rule, which is stable in sense of Lyapunov. Thedoi:10.3329/cerb.v16i1.12720 fatcat:mvyk25jufjfaho3e6yo4sjqgi4