for discrete-time nonaffine nonlinear systems (NNSs). It is shown that a kind of generalized
TS fuzzy model is the universal fuzzy model for discrete-time NNSs satisfying a sufficient
condition. The results on universal fuzzy controllers are presented for two classes of discrete-
time stabilizable NNSs. Constructive procedures are provided to construct the model
reference fuzzy controllers. The simulation example of an inverted pendulum is presented to …