Design and experiments for a class of fuzzy controlled servo systems

Radu Emil Precup, Stefan Preitl, Imre J. Rudas, Marious L. Tomescu, Jósef K. Tar

Research output: Article

100 Citations (Scopus)


This paper proposes a new fuzzy control solution employing 2-DOF proportional-integral-fuzzy controllers dedicated to a class of servo systems. The controlled plants in these systems, widely used in mechatronics applications, can be characterized by second-order dynamics with integral type. The original design method suggested here starts with linear design results in terms of the extended symmetrical optimum method accompanied by an iterative feedback tuning (IFT) algorithm. Next, these results are transferred to the fuzzy case by the modal equivalence principle. The convergence of the IFT algorithm is guaranteed by the derivation of sufficient global asymptotic stability conditions based on Krasovskii-LaSalle's invariant set theorem with quadratic Lyapunov function candidate. Real-time experimental results corresponding to a low-cost fuzzy controlled servo system validate the theoretical approaches.

Original languageEnglish
Pages (from-to)22-35
Number of pages14
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
Publication statusPublished - febr. 2008

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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