Advanced Metaheuristics-Based Approach for Fuzzy Control Systems Tuning - Complex System Modelling and Control Through Intelligent Soft Computations - page 637

Fig. 15 Experimental results
of the PID-type FLC
implementation: speed
tracking error

0.5

0.4

0.3

0.2

0.1

0

-0.1

-0.2

-0.3

-0.4

-0.5

0 10 20 30 40 50 60 70

Acquisition time (sec)

Fig. 16 Robustness of the
external disturbance rejection:
controlled speed variation

3

External load disturbance rejection

2

1

0

0 10 20 30 40 50 60 70

Acquisition time (sec)

In comparison with the results in Hagg è ge et al. ( 2009 ) for a such plant, obtained

by the use of a full order H 1 controller, as well as those obtained by PID-type FLC

with trials-errors tuning method in Hagg ge et al. ( 2010 ), the experimental results

of this study are satisfactory for a simple, non conventional and systematic meta-
heuristics-based control approach. They point out the controller

è

s viability and
performance. As shown in Figs. 14 and 15 , the measured speed tracking error is
small (less than 10 % of set point) showing the high performances of the proposed
control, especially in terms of tracking. The robustness, in terms of external load
disturbances of the proposed PID-type FLC approach, is shown in Figs. 16 and 17 .
The proposed fuzzy controller leads to reject the additive disturbances on the
controlled system output with a fast and more damped dynamic.

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