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Fuzzy Adaptive Type II Controller for Two‐Mass System


[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication


Published in


Journal year: 2022 | Journal volume: vol. 15 | Journal number: iss. 2

Article type

scientific article

Publication language


  • fuzzy controller
  • type II fuzzy functions
  • membership functions
  • Petri layer
  • MRAS
  • adaptation process
  • type 2 fuzzy sets

EN This paper presents original concepts of control systems for an electrical drive with an elastic mechanical coupling between the motor and the driven mechanism. The synthesis procedure of the speed controller uses a proposed quality index (cost function) of system operation ensures the minimization of both tracking errors and torsional vibrations. Proper selection of the cost function focusses more on the reduction of torsional vibrations due to their negative influence on the drive’s mechanical coupling vitality. The omission of the plant identification of an adaptive fuzzy controller was proposed. Two types of fuzzy controllers were analyzed, namely with type I and type II fuzzy membership functions. The novelty of the presented approach is in the application of a Petri transition layer in a type II fuzzy controller which reduces the numerical complexity in case of a large number of complicated type II fuzzy sets. The presented simulation and experimental results prove that the best dumping of mechanical vibrations ensures the adaptive fuzzy controller with type II functions and a Petri transition layer.

Date of online publication


Pages (from - to)

419-1 - 419-24





Article Number: 419

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

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