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The paper deals with an effective approach of the robust controller design based on the fuzzy logic, and algorithms for variable sampling of trajectory points to improve the control performance of trajectory tracking. The proposed controller design and sampling algorithms are verified in the case study of the selected mechatronic system. All presented results are reached in co-simulation of two different modeling environments, Matlab-Simulink and MSC Adams. MSC Adams is used for the dynamics of the mechatronic system and Matlab-Simulink for the control part of the co-simulation, respectively.