A TUTORIAL ON ADAPTIVE ROBUST POSITION CONTROL OF DC MOTOR USING FUZZY LOGIC COMPENSATION

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