Robust Control of an Electrical Drive using Adaptive Fuzzy Logic Control Structure with Sliding-Mode Compensator

In the paper a robust control system with the fuzzy adaptive controller and the additional compensator is presented. A model reference adaptive control system (MRAC) is applied to a drive system with changeable parameters. The speed controller is based on the neuro-fuzzy network. The additional compensator relaying on the sliding-mode theory is used to improve the dynamical characteristics of the drive system. The proposed control structure is investigated in simulation and experimental tests.