Design of a fuzzy servo-controller (Q1349195)

The design of a fuzzy logic servo-controller for a wide class of nonlinear plants is presented. It is assumed that the plant is described by a known nonlinear function that is first-order differentiable and that a stabilizing controller of the assumed nonlinear structure exists. The proposed control configuration stems from the well-known and proven control strategies for linear systems. The control scheme uses integrators to ensure low-frequency command tracking and low-frequency disturbance rejection, and to enhance robustness of the closed-loop system. The proposed control scheme is based on error feedback. The error feedback imitates the classical error feedback systems in linear control design. However, the controller also receives signals to determine the plant operating points. These signals may include plant input-output and variables representing other ambient conditions. The fuzzy controller is trained off-line by minimizing the error between the plant output and the output of a reference model while the training setpoints conform to the normal operating condition of the plant. The feasibility and effectiveness of the proposed scheme are illustrated by conducting simulation studies.