VI PrefaceThe intended audience are graduate students and researchers both from academia and industry. For newcomers to the field, the book provides a concise introduction dynamic TS fuzzy models along with two methods to construct TS models for a given nonlinear system.While this monograph focusses mainly on the theory and methodology of state and parameter estimation in nonlinear distributed dynamic systems, the methods presented can readily be used in applications such as industrial processes, traffic systems, environmental systems, energy and water distribution networks, and so on.Supplementary information relevant to this book is available at the website:http://www.dcsc.tudelft.nl/fuzzybook/ Comments, suggestions, or questions concerning the book or the website are welcome. Interested readers are encouraged to get in touch with the authors using the contact information on the website.

Inspired by nature, soft robots promise disruptive advances in robotics. Soft robots are naturally compliant and exhibit nonlinear behavior, which makes their study challenging. No unified framework exists to control these robots, especially when considering their dynamics. This work proposes a methodology to study this type of robots around a stable equilibrium point. It can make the robot converge faster and with reduced oscillations to a desired equilibrium state. Using computational mechanics, a large-scale dynamic model of the robot is obtained and model reduction algorithms enable the design of low order controller and observer. A real robot is used to demonstrate the interest of the results.

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