This paper proposes a gain scheduling robust controller whosestructure is continuously changed by fuzzy logic such that thecontroller makes the system respond quickly if the error e is large andvice versa in order to obtain a robust controller which is insensitiveto both the plant noise and the observation noise. Then, it is appliedto speed control for an induction servomotor. Experiments show that theproposed controller is superior to both a sliding mode controller and aPID controller. The paper includes the stability analysis of the overallsystem and the design procedure using Liapunov's method
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