A robust adaptive fuzzy controller for drives and transport delayed systems

This paper presents an adaptive-fuzzy logic control application for different plant models. The adaptive-fuzzy controller will automatically tune for a given plant model with very minimal manual effort and also account for the aging and degradation of the actuator, sensor and the plant itself. The self-tuning controller will also take care of systems with transport delays or dead times. The controller was tested on different plants with sensor degradation and transport delay issues. It was also applied to a dc machine drive for torque control. The controller shows very interesting adaptation and tracking results with disturbance. Different initial fuzzy rules were tried with interesting adaptation of the rule surface. A comparison with a classical fuzzy controller was made to show the effectiveness of the proposed controller. A real-time implementation of this strategy is currently in progress for experimental verification on a DC machine drive.