Robustness enhancement of an optimal fuzzy control electrical position servo system by a novel model-following approach

Abstract

In this paper, an optimal fuzzy model-following control (OFMFC) scheme for position servo systems is presented. A fuzzy model controller (FMC) is used to generate an optimal reference output trajectory and a proportional-integral-derivative adaptation mechanism is included to force the plant output to follow the optimal model output. Both design of the FMC and that of the PID adaptation mechanism are addressed. Numerical results illustrate that the proposed OFMFC scheme can retain optimal system performance even in the presence of significant parameter variations and load disturbance. The comparison between an OFMFC system and an optimal fuzzy control (OFC) system shows that the OFMFC scheme is much more robust than the pure OFC scheme.