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On the Robust Controller for Dynamic Systems using Some Fuzzy Design Features

Design of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers. In this paper, we introduce a novel concept of dynamic pole motion (DPM) for the design of an error-based adaptive controller (EBAC). The purpose of this novel design approach is to make the system response reasonably fast with no overshoot, where the system may be timevarying and nonlinear with only partially known dynamics. The E-BAC is implanted in a system as a nonlinear controller with two dominant dynamic parameters, the dynamic position feedback and the dynamic velocity feedback. In the design of this feedback adaptive controller, parameters of the controller are designed as a fuzzy function of the system error. The position feedback , and the velocity feedback , are continuously varying as a function of the system error . For illustrating the strength of this new approach, in this paper we give an example of a flexible robot with nonlinear dynamics. Keywords—Dynamic pole motion (DPM), Error-based adaptive controller (E-BAC), Nonlinear timevarying system