High performance fuzzy-Padé controllers: Introduction and comparison to fuzzy controllers

Abstract

In this paper, a new highly convergent, efficient, and fast response control technique entitled as fuzzy-Pade control method is introduced. It provides a simple methodology to exploit the heuristic knowledge in controlling a system. Fuzzy–Pade controllers originate from a unification of heuristic knowledge expressed as the rule base, and Pade approximants. In this method, fuzzy singleton rules are used to generate the rule base. Accordingly, unknown parameters in the Pade approximant are determined using these rules. The fuzzy-Pade controllers possess certain advantages over fuzzy controllers, and they can be applied in situations where fuzzy controllers previously failed. To demonstrate the effectiveness and robustness of the method, the simulation results for three case studies, the single inverted pendulum, ball and beam, and parallel double inverted pendulum systems are presented. In the case studies, it is shown that the fuzzy-Pade controller has greater convergence region, is quite faster, and its energy consumption is much lower than the fuzzy controller.