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• [P327] Designing Type-2 Fuzzy Logic System Controllers via Fuzzy Lyapunov Synthesis for the Output Regulator of a Servomechanism with Nonlinear Backlash
  Author(s): Oscar Castillo, Nohe Cazarez, Luis Aguilar
  
  

  Abstract
  Fuzzy Lyapunov Synthesis is extended to the design of Type-2 Fuzzy Logic System Controllers for the output regulation problem for a servomechanism with nonlinear backlash. The problem in question is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. The servomotor position is the only measurement available for feedback; the proposed extension is far from trivial because of nonminimum phase properties of the system. Performance issues of the Type-2 Fuzzy Logic Regulator constructed are illustrated in a simulation study.

  
   

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