DSP-based neuro-fuzzy position controller for servomotor

A neuro fuzzy position controller for a servomotor, which is a nonlinear controller and gives much higher control performance for highly nonlinear systems than a linear controller, is proposed. The DSP hardware architecture for implementation of neural networks has to be complemented by optimized program coding to avoid the latency effects due to its pipelining structure as to achieve higher throughput. The overall system, which involves tasks performed by the microcomputer and DSP, and the implementation of the sigmoid function using a lookup table are described