Stability and Sensitivity Analysis of Fuzzy Control Systems. Mechatronics Applications

The development of fuzzy control systems is usually performed by heuristic means, incorporating human skills, the drawback being in the lack of general-purpose development methods. A major problem, which follows from this development, is the analysis of the structural properties of the control system, such as stability, controllability and robustness. Here comes the first goal of the paper, to present a stability analysis method dedicated to fuzzy control systems with mechatronics applications based on the use of Popov’s hyperstability theory. The second goal of this paper is to perform the sensitivity analysis of fuzzy control systems with respect to the parametric variations of the controlled plant for a class of servo-systems used in mechatronics applications based on the construction of sensitivity models. The stability and sensitivity analysis methods provide useful information to the development of fuzzy control systems. The case studies concerning fuzzy controlled servo-systems, accompanied by digital simulation results and real-time experimental results, validate the presented methods.