Inthispapz, design, simulation and experimental verification

of a self-leaning tizzy logic controller (SLFLC) snitahle for control of

nonlinear SCNO sys ma are described. The SLFLC contains a leaning

algorithm that udlizes a second-order reference made1 and a sensitivity

mcdel related to the fuzzy controller parameters. The effectiveness of the

proposed controller has been tested in tbe position control loops of two

chopper-fed dc servo systems, frst by simulation in the presence of a

backlash nonlinearity, then by experiment in the presence of a gravity.

dependent shaft load and fairly high static friction. The simulation and

expimental results have proved that the SLFLC provides desired closedloop

behavior and eliminates a steady-state position mar.

Keywords: Fuzzy Systems, Fuuy Control, Sensitivity Model,- Inthispapz, design, simulation and experimental verification

of a self-leaning tizzy logic controller (SLFLC) snitahle for control of

nonlinear SCNO sys　ma are described. The SLFLC contains a leaning

algorithm that udlizes a second-order reference made1 and a sensitivity

mcdel related to the fuzzy controller parameters. The effectiveness of the

proposed controller has been tested in tbe position control loops of two

chopper-fed dc servo systems, frst by simulation in the presence of a

backlash nonlinearity, then by experiment in the presence of a gravity.

dependent shaft load and fairly high static friction. The simulation and

expimental results have proved that the SLFLC provides desired closedloop

behavior and eliminates a steady-state position mar.

Keywords: Fuzzy Systems, Fuuy Control, Sensitivity Model,