Abstarct: In this thesis, an adaptive fuzzy backstepping controller is designed for passive torque simulator in aircraft rudder actuator. Creating error equations by the backstepping method and using fuzzy estimator to approximate the extra torque baxsed on clustering and online adjustment of system parameters with the adaptation law will significantly reduce the errors. The proposed method is compared with conventional backstepping and sliding mode control. By guaranteeing stability, Simulation results show better performance of the proposed method.