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Fuzzy rules representing the structure of the controller are generated based on data collected during the process of control using a newly introduced technique for on-line identification of TS type of fuzzy models. The output of the plant under control (including its dynamic) and the respective control signal applied have been memorized and stored in on-line mode. These data have been used to train in a non-iterative recursive way the fuzzy controller. The indirect adaptive control approach has been used in combination with the novel on-line identification technique. This approach exploits the quasi-linear nature of TS models and builds up the controller rule-base structure and adapts it in on-line mode with recursive, non-iterative learning. The method is illustrated with an example from air-conditioning systems, though it has wider potential applications. 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