Adative robust control of Electrical Load Simulator based on fuzzy logic compensation

This paper proposes adaptive robust torque controller for Electrical Load Simulator considering the effect of extra torque as disturbance and nonlinear friction. Mathematical model of ELS is derived and the adaptive robust law is derived. To estimate extra torque and non linear friction we propose fuzzy logic system. LuGre friction model is used to validate the proposed scheme estimation. The stability of proposed controller with fuzzy compensator is derived using Lyapunov stability criteria and the adaptive law is derived. The validity of proposed controller is verified using computer simulations for estimation and compensation of friction and extra torque with torque tracking performance.