Author(s)

Quang P. Ha & M. Negnevitsky

Abstract

This paper presents a methodology which uses fuzzy logic and some engineering heuristics to tune the controller parameters in motion control systems for improving robustness. Simple tuning schemes are applied for continuously changing the gain and time-constant of widely used proportionalintegral controllers, dependent on the control error and its rate of change. Fuzzy tuning can also be applied to robust modal control using the state space approach. Predictive coefficients of an unknown input observer are tuned taking into account the change of estimated disturbances. More complicated schemes are given for tuning the dynamic feedforward coefficient in relation to the signs of the error and the change of the estimated disturbance. Conditional sch

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