Performance evaluation of fuzzy PI/PD-based H∞ controller for BLDC drives: A real-time implementation

This paper describes experimental implementation to demonstrate that it is physically viable to implement adaptive fuzzy controller-based H∞ tracking for high performance brushless motor drives. The fuzzy controller is based on PI/PD control structure and equipped with an adaptive learning algorithm to achieve H∞ tracking performance with external disturbances. The fuzzy-PI and fuzzy-PD design serves as an improvement to PID control and a baseline for H∞ optimal control design; thus providing H∞ tracking with accuracy and achieve finer performance. The robustness of the proposed controller is displayed for different types of trajectories. Experimental results suggest that the effect of both the fuzzy approximation error and external disturbance on the tracking error can be attenuated efficiently by the proposed adaptive fuzzy-H∞ controller. The controller is suitable for the robust tracking control of the uncertain nonlinear drive systems and is an attractive control design tool.