Model-Based Fuzzy Control Applied to a Real Nonlinear Mechanical System

The paper presents a method of designing a fuzzy controller for a nonlinear system described only by input/output relations. A fuzzy model of the system is constructed on the basis of the system's measured input/output data, and this model is then used for the proposal of PI fuzzy controller rules based on finding the input signal time sequences that will lead to achieving the goal of optimal system control. In the first part of the paper, we describe the method of the fuzzy controller design; in the second part, this method is applied to a real nonlinear dual-axis mechanical system. Significant simulations and experimental measurements that have been carried out have confirmed the rightness of the proposed method and the good dynamic properties of the developed PI fuzzy controller.