“…The control function u(t) is added into the slave system. System initial conditions are x(0) = [0, 0] T and y(0) = [1, 1] T for the master and slave systems, respectively, and the proposed control input signal, using (30), is described as (44) To design the equivalent part of control signal, the input variables of the fuzzy systemsf (y|θ f ) and [58] fuzzy system for u f s = FSMC(s,ṡ) are chosen as [s n ,ṡ n ], where s n = s/5 andṡ n =ṡ/50 are the normalized values of s andṡ, then we define seven type-2 Gaussian membership functions as shown in Fig. 4(a).…”