Fuzzy logic combined with optimal tracking theory is proposed for the positioning control of a dc servomotor with model uncertainties. The novel control strategy is implemented through a digital signal processor. Sugeno-type product inference engine is applied to design the fuzzy inference mechanism first. Then the LQ calculus of variations technology is utilized to find the optimal parameters of fuzzy controller. No matter the position response or the control signal, both computer simulations and experimental results demonstrate that the LQ optimal fuzzy controller is superior to the traditional fuzzy controller.
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