Takagi-Sugeno PD plus I Fuzzy Control of Processes with Variable Moment of Inertia

The paper presents aspects related to the design and implementation of a Takagi-Sugeno (TS) proportional-derivative (PD) + integral (I) fuzzy controller for processes with variable moment of inertia. A two-step design method for the TS PD+I fuzzy controller applied to position control systems is proposed. The first step concerns the Extended Symmetrical Optimum method-based tuning of the parameters of linear PID controllers organized in a parallel scheme. The second step deals first with the fuzzification of the linear PD component in the PID controller scheme resulting in the TS PD fuzzy block (TS PD FB). The modal equivalence principle is next employed to tune the parameters of TS PD FB that operates as a bump-less interpolator between separately tuned PD controllers placed in the rule consequents. The presentation is focused on the position control of a representative mechatronics application with variable moment of inertia, namely the laboratory equipment built around the Model 220 Industrial Plant Emulator. Experimental results are given to validate the PID controllers and design method in several case studies. The comparison of TS PD+I fuzzy controller versus PID controllers is supported by experimental results.