Most physical plants are nonlinear in nature and coupled with uncertain dynamics due to external disturbances or unmodeled nonlinearities or even unpredictable faults. In many cases, a good response of complex and highly nonlinear real process is difficult to obtain by applying conventional techniques based on linear mathematical models of the process. The performance of the conventional controller deteriorates as the operating point changes. Also, non-linear dynamical systems are difficult to control due to the unstable and even chaotic behaviors and uncertainties that may occur in these...