A TUTORIAL ON ADAPTIVE ROBUST POSITION CONTROL OF DC MOTOR USING FUZZY LOGIC COMPENSATION
Nasimullah*, Muhammad Irfan Khattak**, Muhammad Shafi**, Gulzar Ahmad**
ABSTRACT
This article presents a tutorial on adaptive fuzzy sliding mode control for position control of DC servo
motor which is subjected to nonlinear friction and external disturbance torque. Friction phenomenon is simulated
using Lugre dynamic model. Adaptive fuzzy system is used to approximate nonlinear friction and external disturbance.
Assuming that system state matrixes are known, model based robust controller is formulated using sliding mode
control method. Adaptive fuzzy system formulated using Lyapunov function. The proposed controller is derived for
DC motor position control system and numerical simulations are presented to verify its effectiveness.
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June 2015
Vol 34 No 1 (2015)
