A fuzzy-genetic controller for the output regulation of a servomechanism with backlash

A fuzzy logic controller is proposed to achieve the output regulation problem of a servomechanism with backlash. The problem is to design a fuzzy controller to obtain the closed-loop system in which the load of the driver is regulated to a desired position. The provided servomotor position is the only measurement available for feedback. The proposed fuzzy controller is optimized with a genetic algorithm to obtain best performance results. The proposed method is far from trivial because of non-minimum-phase properties of the system. Simulation results illustrate the effectiveness of the optimized closed-loop system.