Abstract
The paper performs the sensitivity analysis with respect to the parametric variations of the controlled plant in the case of low cost fuzzy control systems dedicated to servo systems, with focus on solving the tracking control problem for a class of wheeled mobile robots with two degrees of freedom used in mining technologies. A new development method for Takagi-Sugeno PI-fuzzy controllers is proposed, based on applying the Extended Symmetrical Optimum method to the basic linear PI controllers in a cascaded control system structure. Original sensitivity models are derived. The approaches are validated by a case study.
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