The proposed scheme is demonstrated on different second order models with variable dead time and also its effectiveness is tested on a practical overhead crane set -up.

 Adaptive Fuzzy PD Controller - AFPDC

The output SF of FLC needs to be determined very carefully as it has strong influence on the close -loop performance. Here, a non - fuzzy adaptive scheme is implemented for FPDC, where a real time gain updating factor β continuously adjusts the output SF.

http://iasir.net/IJETCASpapers/IJETCAS13-544.pdf

Dear Sahin,

I really do not have any experience in these kind of controllers. You may find however the following sources helpful:

http://cdn.intechopen.com/pdfs-wm/4250.pdf

http://www.pomsmeetings.org/ConfProceedings/001/Papers/PSC-05.3.pdf

https://www.researchgate.net/publication/4248422_Robust_Fuzzy_Logic_Controller_for_an_Intelligent_Gantry_Crane_System

http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4216639&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D4216639

http://www.google.gr/url?sa=t&rct=j&q=&esrc=s&source=web&cd=10&cad=rja&uact=8&ved=0CGEQFjAJ&url=http%3A%2F%2Feprints.uthm.edu.my%2F179%2F1%2Fwahyudi.pdf&ei=dgtjVM_XHcjnaKGLgdgH&usg=AFQjCNGfCdCyxQXz5D31oZfWYF3p6RShWQ&bvm=bv.79189006,d.d2s

Conference Paper Robust Fuzzy Logic Controller for an Intelligent Gantry Crane System

Go through the early publication about "flatness based control" in 1992 by Fliess, Lévine, Martin and Rouchon. You will not find anything better.