**5. Conclusion**

In this chapter, we have proposed and presented a control strategy based on a neuro-fuzzy inference system regulator with a fuzzy compensator to control the manipulator robot with two joints.

It is important to note that the compensatory neural fuzzy inference system is more powerful than fuzzy systems or neural networks, since it can incorporate these advantages:


This control strategy has the advantage of requiring only measurements of output variables. The simulations indicate that a complete stabilization of the system is indeed observed.

#### *Compensatory Adaptive Neural Fuzzy Inference System DOI: http://dx.doi.org/10.5772/intechopen.96050*

In conclusion, we wanted, at the end of this chapter, to try to identify a broadspectrum methodology that opens the field to a possible standardization of the design of control laws based on a neuro-fuzzy structure equipped with a compensator, in order to controlling a poorly understood and imprecise dynamic system. It would be interesting in the context of experimental tests to judge the performance of the methods proposed on real systems.
