... feedback laws in this.case in the consequent parts. We can use other controllers, for example,output feedback controllers and dynamic output feedback controllers, insteadof the state feedback ... localdesign structure, the feedback gains F should be determined using globalidesign conditions. The global design conditions are needed to guarantee theglobal stability and control performance. ... the basin of attraction changes as the membershipfunctions vary, for instance, how the basin of attraction would change as aŽ.Ž. Ž.varies for this example. Figures b , c , and d show the basin...