Control of the TORA system using SIRMs based type-2 fuzzy logic

The translational oscillations with a rotational proof-mass actuator (TORA) is a well-known benchmark for examining the advantages and limitations of different nonlinear control design techniques. In this paper, a single-input-rule-modules (SIRMs) based type-2 fuzzy logic control scheme is proposed for this nonlinear multivariable system. And, genetic algorithms (GAs) are adopted to determine the parameters and to improve the performance of the SIRMs based type-2 fuzzy logic controller (SIRM-T2FLC). At last, simulations and comparisons are given to demonstrate the effectiveness, robustness and superiority of the proposed controller under three circumstances: normal case, the disturbance existing case, and the parameter varying case. From the design process and comparisons, it can be seen that: 1) this SIRMs based type-2 fuzzy control scheme can alleviate the difficulty to design conventional type-2 fuzzy logic controllers (T2FLCs) for this multivariable TORA system, 2) the SIRM-T2FLC is much easier to design and understand compared with conventional nonlinear control strategies for the TORA system, 3) better performance can be achieved.