Intelligent supervision of servo control

In this paper two types of intelligent supervised controllers are proposed with the aim to achieve an overall performance beyond the limit of linear controllers. In each case, the overall controller has a hierarchical structure with two conventional linear controllers in the bottom layer to perform accurate control action under the supervision of a reasoning process in the top layer. The reasoning process consists of heuristic rules drawn from our physical insight, and can easily be implemented either by fuzzy logics or by IF-THEN statements. Both intelligent supervised controllers achieve a performance beyond the limit of linear control laws, and are superior to both a fuzzy controller and a neural controller at least in the sense that their performances are independent of the type of command.