A multirule-base controller using the robust property of a fuzzy controller and its design method

This paper suggests a new fuzzy adaptive controller, which is able to solve the problems of classical adaptive controllers and conventional fuzzy adaptive controllers. It explains the architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller. The basic idea of new adaptive control scheme is that an adaptive controller can be constructed with parallel combination of robust controllers. This new adaptive controller uses a multirule-base architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. Here, we propose a design procedure which can be carried out mathematically and systematically from the model of a controlled system; related mathematical theorems and their proofs are also given. The performance of the proposed adaptive control algorithm is analyzed through a design example and a DC motor control simulation.