Rotary position system based on improved nonlinear tracking differentiator-fuzzy PID

In order to deal with the problems of non-linearity and external disturbance in the rotary position system, a dual closed loop controller is designed. A conventional PID is used in the outer loop, and an improved tracking differentiator(ITD)-fuzzy PID controller is in the inner loop. Combining the merits of linear TD and nonlinear TD, ITD not only has the advantages of no chattering phenomenon and excellent dynamic effect, but also has quickness and high precision, which can realize any signal tracking and differential. Combined with fuzzy PID algorithm, the ITD-Fuzzy PID controller has strong filtering performance and good robustness, which can meet the requirement for rotary position system.