Fuzzy Control of a Nonlinear Servomotor Model

Article type: Research Article

Authors: Makkonen, Arto^; | Koivo, Heikki N.

Affiliations: Tampere University of Technology, Department of Electrical Engineering, Control Engineering Laboratory, P.O. Box 692, FIN-33101 Tampere, Finland

Note: [] Current affiliation: ABB Corporate Research, Electronic Systems Laboratory, P.O. Box 608, FIN-65101 Vaasa, Finland.

Abstract: A nonlinear servomotor model with friction, saturation, backlash, and motor starting voltage is presented in this article. Fuzzy control and nonlinear PID control are compared using numerous computer simulations. A systematical method for tuning a PD-type fuzzy controller with training data is introduced.

DOI: 10.3233/IFS-1995-3204

Journal: Journal of Intelligent and Fuzzy Systems, vol. 3, no. 2, pp. 145-154, 1995