Reduction of low-resolution incremental encoder usage effects on control performance by using a fuzzy controller

Different methods for position control of a DC servomotor are examined. Position is measured with a low-resolution incremental encoder that is a cheap solution that allows for free movement of motor shaft. This kind of measurement affects control and degrades its performance. Entire system is first identified using Matlab System Identification Toolbox. P and PD controllers, along with cascaded and observer-based controllers are synthesised and tested. Sugeno type fuzzy controller with two inputs and constant output membership functions shows the best results of the tested controllers in both simulation and testing done on a real system. Simulation is performed with Matlab Simulink. Control system prototyping is done using DS1104 board.