Inthispapz, design, simulation and experimental verification of a self-leaning tizzy logic controller (SLFLC) snitahle for control of nonlinear SCNO sys ma are described. The SLFLC contains a leaning algorithm that udlizes a second-order reference made1 and a sensitivity mcdel related to the fuzzy controller parameters. The effectiveness of the proposed controller has been tested in tbe position control loops of two chopper-fed dc servo systems, frst by simulation in the presence of a backlash nonlinearity, then by experiment in the presence of a gravity. dependent shaft load and fairly high static friction. The simulation and expimental results have proved that the SLFLC provides desired closedloop behavior and eliminates a steady-state position mar. Keywords: Fuzzy Systems, Fuuy Control, Sensitivity Model,

modelreference.pdf

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