Self-organizing fuzzy logic control for servo systems

To enhance the performance of linear servo control systems, a gain-scheduling-type nonlinear control strategy is utilized. A fuzzy linguistic control structure is used as the infrastructure for organizing a panoply of local linear controllers. To reach high-performance goals, a learning scheme for automatically fine-tuning the fuzzy control rules is proposed. The method uses a computational approach to optimize prescribed performance evaluations. The training process utilizes simulation and/or experimental data and is guided by linguistic learning laws derived heuristically from the performance requirements