Robust Petri Recurrent-Fuzzy-Neural-Network Sliding-Mode Control for Micro-PMSM Servo Drive System

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1 Rbust Pt Rcunt-Fuzz-Nual-Ntw Sldng-Md Cntl f Mc-PMSM Sv Dv Sst FAYZ F M L-SOUSY Dpatnt f lctcal ngnng, Cllg f ngnng n Al-Kha Salan Bn Abdulazz Unvst BO B 6 Al-Kha 9 SAUD ARABA SAUD ARABA -al: fazf@sudusa Abstact: Ths pap ppss an ntllgnt hbd cntl sst HCS f dntfcatn and cntl f c-pannt-agnt snchnus t c-pmsm sv dv t achv hgh pcsn tacng pfanc Basd n th pncpl f cputd tqu cntl, a pstn tacng cntll s dsgnd and analzd Mv, t la th qunt f th lupd unctant, an HCS s ppsd Th HCS s cpsd f a Pt cunt-fuzz-nual-ntw cntll, PRFNN dntf PRFNN and a sldng-d cntll Th s usd as th an tacng cntll t c th law and th s dsgnd wth adaptv bund statn algth t cpnsat f th appatn btwn th and th Th PRFNN s usd t pvd th snstvt nfatn f th c-pmsm sv dv sst t th Th n-ln lanng algths f th and PRFNN a dvd usng Lapunv stablt analss n addtn, th nln adaptv cntl laws f th a dvd basd n th Lapunv stablt analss, s that th stablt f th sst can b guaantd Th pstn tacng pfanc s sgnfcantl pvd usng th ppsd HCS and bustnss t tnal dstubancs can b btand as wll A cput sulatn s dvlpd t valdat th ffctvnss f th ppsd HCS Th sulatn sults cnf that th HCS gants bust pfanc and pcs spns gadlss f lad dstubancs and c-pmsm paats unctants K-Wds: Cputd tqu cntl, ntllgnt cntl, Lapunv stablt th, c-panntagnt snchnus t c-pmsm, Pt nt PN, cunt-fuzz-nual-ntw ntductn Th c-lctchancal sst MMS s a nw tchnlg dvlpd f th ntgatd ccut ndust t cat natu snss and actuats Ognall, ths scnduct pcsss and atals w usd t anufactu lctcal and chancal ssts Hwv, th MMS tchnlg has nw pndd t nclud blgcal, ptcal, fludc, agntc, and th flds as wll []-[] Th c t ncluds c dc t, c swtchd luctanc t, c nductn t, and c pannt agnt snchnus t Th c pannt agnt snchnus t has btt pfanc than th th c ts du t ts hgh dnst, hgh ffcnc, and gd bustnss [] S sach has dscussd th snslss tchnqus f th PMSM [, 7, 9, ] Hwv, t fcusd n th tadtnal PMSM, nt th c- PMSM Th c-pmsm has dffnt chaactstcs f th tadtnal PMSM F apl, ts nductanc s sall than H, but ts sstanc s lag than Ω As a sult, th t s usuall patd n dscntnuus cunt cndtns Mv, cntl f th c-pmsm s dffcult than that f th tadtnal PMSM wng t ts sz ltatn and sall nductanc S paps hav fcusd n th sach f c-ts [, 3] Zhang t al ppsd a nvl adustabl c-pannt agnt snchnus t cntl sst wthut usng a t pstn/spd sns [, ] n addtn, Chang t al [6 8] ppsd a H cntll and a t pstn stat f a c-pmsm cntl sst Sval sachs hav nvstgatd c-t cntl ssts F apl, th snslss tchnqus and applcatns f th c-t hav bn studd [9, ] Hwv, st f th paps publshd fcus n th dsgn, chaactstcs, dv and applcatns f c-ts [ 3] Onl a fw paps fcus n th cntll dsgn f th c-ts S sachs hav dn th thtcal analss and cput sulatns n c-t cntl F apl, Puushtha t al [] ppsd a clsdlp c-t cntl sst n whch nl th sulatd sults w ncludd ntllgnt cntl tchnqus n uch sach hav bn dvlpd t pv th pfanc f SBN:

2 th PMSM sv dvs and t dal wth th nnlnats and unctants usng fuzz lgc, nual ntw and/ th hbd f th [, 3] Th cncpt f ncpatng fuzz lgc nt a nual ntw NN has gwn nt a ppula sach tpc n cntast t th pu nual ntw fuzz sst, th fuzz-nual-ntw FNN psssss bth th advantags; t cbns th capablt f fuzz asnng n handlng unctan nfatn and th capablt f NNs n lanng f th pcss On th th hand, th cunt fuzz-nual-ntw RFNN, whch natuall nvlvs dnac lnts n th f f fdbac cnnctns usd as ntnal s, has bn studd b s sachs n th past fw as [] [6] n cnt as, Pt nt has fund wdl applcatns n dlng and cntllng dsct vnt dnac ssts [7] [8] F th last dcads, Pt nt PN has dvlpd nt a pwful tl f dlng, analss, cntl, ptzatn, and plntatn f vaus ngnng ssts [9] [] n [] [3] th cncpt f ncpatng PN nt a tadtnal fuzznual-ntw FNN t f a nw tp Pt FNN PFNN faw f th tn cntl f lna nductn t dv s ppsd n ths pap, an HCS s ppsd f dntfcatn and cntl th t pstn f th c-pmsm sv dv Th cnfguatn f th ppsd HCS f c-pmsm sv dv s shwn n Fg Fst, basd n th pncpl f, a pstn tacng cntll s dsgnd and analzd Althugh th tacng and gulatn pstn cntl pfanc can b alzd usng th, th pfanc f th sv dv sst n lad gulatn has a lag dp and a lng cv t T slv ths pbl and n d t cntl th t pstn f th c-pmsm ffctvl, an HCS s ppsd Th HCS cnssts f a, PRFNN dntf PRFNN and a Th s usd as th an tacng cntll t c th law and th cntll s dsgnd wth adaptv bund statn algth t cv th sdual f th appatn whl th PRFNN s usd t pvd th snstvt nfatn f th dv sst t th Th nln adaptv cntl laws a dvd basd n th Lapunv stablt s that th stablt f th c- PMSM sv dv can b guaantd A cput sulatn s dvlpd t dnstat th ffctvnss f th ppsd HCS Th dnac pfanc f th sv dv has bn studd und lad changs and paats unctants Th nucal sulatn sults a gvn t dnstat th ffctvnss f th ppsd HCS Mdlng f th c-pmsm Th vltag quatns f th stat wndngs n th tatng fnc fa can b pssd n and Thn, usng FOC and sttng d-as cunt as z, th lctagntc tqu s btand as gvn n 3 and Th paats f th c-pmsm a lstd n Tabl d ' Vqs Rsqs Lss qs ω Lssds ω λ dt d Vds Rsds Lss ds ωlssqs dt Th lctagntc tqu can b pssd as: T 3/ P / λ K 3 qs t qs d d T J β TL P dt P dt F 3 and, th chancal dnacs can b splfd as: β P Kt P qs * TL J J P / J * qs t A B U D T 6 wh U s th cntl fft, L A β / J P /, B Kt / J P / and D P / / J Nw, assu that th paats f th c- PMSM a wll nwn and th tnal lad dstubanc s absnt, wtng 6 can psnt th dl f th sv dv sst A B U 7 B cnsdng th dnacs n 6 wth paat vaatns, dstubanc lad and unpdctabl unctants wll gv: An A Bn B U 8 D D T n L A n Bn U Γ 9 wh A n, B n and D n a th nnal paats f A, B and D spctvl A, B, D and T L a th unctants du t chancal paats J and β, and Γ s th lupd paat unctant and s dfnd as: wh A n, B n and D n a th nnal paats f A, B and D spctvl A, B, D and T L a th unctants du t chancal paats J and β, and Γ s th lupd paat unctant and s dfnd as: Γ t A B U D D T n L SBN:

3 * µ, ησ, η, η η ϖ ϖ ξ R u σ µ ϖ a ϖ ϖ σ n σ µ U qs U qs c qs c ds ω L ss ω L ss * qs * V qs qs / Rsτ s s / τ ω L ss ω L ss s qs T L T L ω K s s β / J d dt ε * ds * V ds ds / R sτ s s / τ s ds / λ η µ, ησ, η, η ε c qs ξ R u ϖ a σ n ϖ ϖ σ µ ϖ ϖ σ µ Fg Stuctu f th ppsd ntllgnt hbd cntl sst usng PRFNN f c-pmsm sv dv Tabl Paats f th c-pmsm Paat Sbl Valu Nnal pw P n W 3-phas Stat wndng nductanc L ss 9 H Stat wndng sstanc R s 7 Ω Vltag cnstant λ 37 p/v Nub f pls P Rt nta J 9-9 g Fctn cffcnt β -6 N/ad/sc Nnal spd N 39 p Ratd tqu T N Ratd cunt A Ratd vltag V L-L V Tqu cnstant K t 7 N/A Th bund f th lupd paat unctant s assud t b gvn, that s, Γ δ wh δ s a gvn pstv cnstants 3 Cputd Tqu Sldng-Md Cntll CT Th s utlzd t lnaz th nnlna quatn f c-pmsm sv dv tn b cancllatn f s, all, nnlna ts Th cntl pbl s t fnd a cntl law s that th t pstn can tac th dsd pstn T achv ths cntl bctv, w dfn a tacng vct as fllws: T T ] [ ] [ wh and a th dsd t pstn and spd f th c-pmsm sv dv sst; and dnt th t pstn and spd Nw, a sldng sufac s dfnd as S τ dτ 3 wh th pstv cnstants and a dsgnd basd n th dsd dv sst dnacs such as s t, vsht and sttlng t Dffntatng S wth spct t t wll gv: S Usng th dffntatn f th pstn functn,, and 9 and substtutng nt 9 wll ld: S [ A n BnU ] Th tacng pbl s t fnd a cntl law U s that th t pstn anng n th sldng sufac f all t > n th dsgn f th sst, th dal quvalnt cntl law, whch dtns th dnacs f th sv dv sst n th swtchng sufac, s dvd Th dal quvalnt cntl law s dvd f S Applng ths qualt t wll pvd S 6 U U q Substtutng nt 6 wll ld A B U [ n n Slvng 7, w can btan ] 7 SBN:

4 U q U CT qs B [ n A n ] 8 Bn[ A n K] wh K [ ], n whch and a pstv cnstants Thus, f S, th dnac f th sst n th sldng sufac a t s gvn b 9 Supps th cntl gan K s chsn such that all ts f th chaactstc plnal f 9 l stctl n th pn lft half f th cpl plan Ths pls that th pstn tacng wll cnvg t z whn t tnds t nfnt, th c-pmsm sv dv stats can tac th dsd tact aspttcall Hwv, th paat vaatns f th c-pmsm a dffcult t asu and th act valu f th tnal lad dstubanc s als dffcult t nw n advanc f pactcal applcatns Thugh, f th c-pmsm paats a ptubd, th CT law can nt guaant th pfanc spcfd b 9 Mv, th stablt f th sv dv a b dstd T nsu th sst pfanc, dsgnd b 9, n spt f th stnc th unctan dnacs, a nw sldng-d cntl law s ppsd f th bund f th lupd paat unctant s assud t b Γ δ Th sldng-d cntl law s dsgnd as CT U qs B [ n A n δ sgn S] Th : Th glball aspttc stablt f s guaantd f th sldng-d cntl law s dsgnd as Pf: Dfn th Lapunv functn canddat as: V S S Tang th dvatv f th Lapunv functn and usng 7, w can gt V S S S S [ A B U S Γ S δ S Γ S δ S [ δ n ] ] < n Thf, th sldng cndtn can b assud thughut th whl cntl pd Accdng t th Lapunv th [], th glball aspttc stablt f th sldng-d cntl sst can b guaantd T tad ff th bustnss and th chattng phnna, a cnsvatv gan δ s alwas slctd b tal and Th ncct slctn f ths cntl gan wll ld t th dvatn f th sldng sufac and caus chattng phnna Thf, f chattng lnatn and t nsu th stablt f th c- PMSM sv dv dspt th stnc f th unctan dnacs and tnal lad dstubanc, an HCS s ppsd n Sctn Pt Rcunt Fuzz Nual Ntw PRFNN PRFNN Stuctu Th achtctu f th ppsd fv-la PRFNN cnfguatn s shwn n Fg, whch cpss th nput la th la, Pt la th la, tanstn la th t la, ul la th la and utput la th la s adptd t plnt th PRFNN n ths pap Mv, z - psnts a t-dla and th utput f th PRFNN s cunt t th nput la thugh a t dla Th sgnal ppagatn and th basc functn n ach la a ntducd as fllws La : nput La Th nds n la tanst th nput sgnals t th nt la F v nd n th nput la, th nt nput and th nt utput can b psntd as: nt N ϖ N 3 N f nt N nt N, t * qs t t t and wh psnts th th nput t th nd f la, N dnts th nub f tatns, ϖ s th cunt wghts f th unts f th utput la and s th utput f th PRFNN La : Pt La n ths la, th utput f ach nd s usd t psnt tns wth th sa Gaussan functn F th th nd Pt nd, th nput and utput f th Pt nd can b dscbd as fllws: nt µ σ 6 α nt p nt 7 wh µ and σ,, n;,, N p, spctvl, a th an and standad dvatn f th Gaussan functn n th th t f th th nput vaabl t th nd f ths la, N p s th nub f Pt nds wth spct t th nput nds and n s th ttal nub f nput nds 3 La 3: Tanstn La Th tanstn la f th PRFNN s usd t pduc tns and als as us f cpttn lanng laws t slct sutabl fd nds as fllws: SBN:

5 3, α nt dth t 8, α nt < dth wh t s th tanstn and d th s a dnac thshld valu vad wth th cspndng La : Rul La ach nd n la ul la s dntd b, whch ultpls th ncng sgnals and utputs th sult f th pduct F th th nds: n ϖ α nt, t nt α 9, t ϕ α f nt α nt α,, L, N 3 ϖ ϕ t Π ϖ α nt wh z - ϖ Π Γ Π Π z - Π ϖ Fg Stuctu f fv-la PRFNN Output La Rul La Tanstn La t Pt La nput La α psnts th th nput t th nd f th ul la la, ϖ s th wghts btwn th tanstn la and th ul la Ths wghts a als assud t b unt; and N s th ttal nub f uls La : Output La Th sngl nd n th utput la s dntd b, whch cputs th vall utput as th suatn f all ncng sgnals as fllws: nt N ϖ nt * PRFNN ϕ α 3 f nt 3 U 33 wh th cnnctng wght ϖ s th utput actn stngth f th th utput asscatd wth th th ul, ϕ psnts th th nput t th nd f utput la and * PRFNN Mv, th utput f th U PRFNN T PRFNN can b wttn as U * ϖ ϖ ϕ s T wh ϖ ϖ [ ϖ ϖ L ϖ ], n whch ϖ s ntalzd t b z and adustd dung n-ln T patn and ϕ ϕ [ ϕ ϕ L ϕ, n whch ] ϕ s dtnd b th Pt and tanstn las On-ln Tanng Algth f PRFNN Th cntal pat f th n-ln tanng algth f th PRFNN cncns hw t cusvl btan a gadnt vct n whch ach lnt n th lanng algth s dfnd as th dvatv f an ng functn wth spct t a paat f th ntw usng th chan ul Snc th gadnt vct s calculatd n th dctn ppst th flw f th utput f ach nd, th thd s gnall fd t as th bacppagatn lanng ul T dscb th n-ln lanng algth f th PRFNN usng th supvsd gadnt-dscnt thd, th ng functn s chsn as: [ ] [ ] 3 wh s th dsd spns, s th actual utput and s th sgnal btwn th dsd spns and th actual utput Th lanng algth basd n th bacppagatn s dscbd as fllws La : n th utput la la, th t t b ppagatd s calculatd as: δ 3 Th wght s updatd b th aunt: nt ϖ η η η δ ϕ ϖ nt ϖ 36 wh η s th lanng at paat f th cnnctng wghts f th utput la f th PRFNN Th wghts f th utput la la a updatd accdng t th fllwng quatn ϖ N ϖ N ϖ 37 wh N dnts th nub f tatns La : n ul la la, nl th t nds t b cputd and ppagatd bcaus th wghts n ths la a unt δ nt ϕ δϖ, ϕ, ϕ ϕ 38 SBN:

6 3 La : n th Pt la la, th t s calculatd as fllws: δ nt ϕ α nt ϕ α nt nt δ ϕ t, t Th updat laws f µ and σ a gvn b: µ η µ ηµ µ η µ δ µ σ σ η σ ησ σ ησ δ σ µ nt nt nt µ 39 nt σ wh η µ and η σ a th lanng at paats f th an and standad dvatn f th Gaussan functn Th an and standad dvatn f th Pt la a updatd as fllws: µ N µ N N µ σ N σ N σ N 3 Th updat law f th cunt wght ϖ can b btand b th fllwng quatn: nt ϖ η η ϖ nt ϖ µ η δ µ N σ wh η s th lanng at paats f th cunt wghts Th cunt wghts a updatd as fllws: ϖ N ϖ N ϖ N Slctn f th valus f th lanng ats η, η µ, η σ and η has a sgnfcant ffct n th ntw pfanc n d t tan th PRFNN, adaptv lanng ats, whch guaant th cnvgnc f tacng basd n th analss f a dscttp Lapunv functn, a dvd n [3] Th Ppsd ntllgnt Hbd Cntl Sst HCS n ths sctn, bth th pbl fulatn and th dscptn f th HCS f th c-pmsm sv dv a ntducd Althugh th dsd tacng and gulatn pstn cntl pfanc can b alzd usng th at th nnal c- PMSM paats, th pfanc f th sv dv sst stll snstv t paat vaatns T slv ths pbl and n d t cntl th t pstn f th c-pmsm ffctvl, an HCS s ppsd Th cnfguatn f th ppsd HCS, whch cbns an, PRFNN and a, f c-pmsm sv dv s shwn n Fg Th hbd cntl law s assud t ta th fllwng f: * * CT U U U 6 qs qs qs wh U qs s th and U CT th cputd tqu sldng-d cntll qs qs s Pt Rcunt Fuzz Nual Ntw Cntll Th s usd as th an tacng cntll t c th law Th nputs f th a and Th s tand b th bacppagatn algth Th lanng pcss s t nz th tacng Pt Rcunt Fuzz Nual Ntw dntf PRFNN Th PRFNN s usd t c th dnac chaactstcs f th c-pmsm sv dv Th nputs t th PRFNN a th fnc cunt cand * qs and th utput f th sv dv Th PRFNN s tand b th bacppagatn algth t stat th t pstn f th sv dv,, wth th actual t pstn f th sv dv,, usd as th dsd spns Th lanng pcss s t nz th tacng and pvd th Jacban f th c-pmsm sv dv sst f th tanng f th 3 On-Ln Tanng Algth f th and PRFNN T dscb th n-ln lanng algth f th usng th supvsd gadnt-dscnt thd, th ng functn s chsn as: C [ ] [ ] 7 wh s th dsd pstn, s th actual t pstn and s th sgnal btwn th dsd and th actual t pstn Dung th lanng pcss f th, th t t b ppagatd n 3 s calculatd as: SBN:

7 ε ε δ C C C C C 8 Th nd f th n-ln lanng algth f th a th sa as gvn b 3- T dscb th n-ln lanng algth f th PRFNN usng th supvsd gadnt-dscnt thd, th ng functn s chsn as: ] [ ] [ 9 wh t s th statd t pstn, t s th actual t pstn and s th sgnal btwn th statd t pstn and th actual pstn Dung th lanng pcss f th PRFNN, th t t b ppagatd n 3 s calculatd as: δ Th nd f th n-ln lanng algth f th PRFNN a th sa as gvn b 3- Th act calculatn f th c-pmsm Jacban * / qs can b dtnd usng th PRFNN whn th dntfcatn bc sall nugh, F and 3-, th Jacban f th sv dv sst s calculatd as fllws: ε α α α ϕ α ϕ * * nt nt nt nt nt nt qs qs 6 Sulatn Rsults Th sulatn sults f th c-pmsm sv dv sst a psntd t vf th fasblt f th ppsd HCS sch und vaus patng cndtns Th dnac pfanc f th c- PMSM dv sst du t snusdal pstn cand f π ad und subsqunt ladng f N f bth th and th ppsd hbd Pt cunt fuzz nual ntw cntll H s pdctd as llustatd n Fg 3 Th dl-fllwng spns and th dl-fllwng MF s shwn n Fg a Th dstubanc ctn capablts hav bn chcd whn a lad f N s appld t th shaft at t sc and vd aft a pd f sc as shwn n Fg b t s vdnt that an bvus dl-fllwng MF du t th pstn cntll achs t ±6 ad As wll, th ppsd pstn cntll qucl tuns th pstn t th fnc und full lad wth a au dp f 67 ad and a cv t f 8 sc t s cla f sulatn sults shwn n Fgs 3a and that th pstn cntll pvds a slw spns f th fnc dl und full lad cndtn wth a lng cv t f abut 8 sc and a lag pcntag dppng n th t pstn f abut f 96% On th th hand, favabl tacng spns and bust chaactstcs can b btand f usng th ppsd pstn cntll n addtn, ths sults llustat gd dl-fllwng spns, lad gulatn pfanc and tacng s f th ppsd pstn cntll a gantd Slal, t s vdnt that an bvus dlfllwng MF du t th H pstn cntll achs t ± ad As wll, th ppsd H pstn cntll qucl tuns th pstn t th fnc und full lad wth a au dp f 9 ad and a cv t f 6 sc t s cla f sulatn sults shwn n Fgs 3b and that th H cntll pvds a fast spns f th fnc dl und full lad cndtn wth a lng cv t f abut 6 sc and a lag pcntag dppng n th t pstn f abut f 89 % On th th hand, favabl tacng spns and bust chaactstcs can b btand f usng th H pstn cntll n addtn, ths sults llustat gd dl-fllwng spns, lad gulatn pfanc and tacng s f th ppsd H pstn cntll a gantd Cpad wth th pstn cntll, t s bvus that th ppsd H pstn cntll pvds a apd and accuat spns f th fnc dl wthn 6 sc As wll, th ppsd cntll qucl tuns th pstn t th fnc und full lad wth a au dp f 9 ad whl th cntll pvds a au dp f 67 ad and a lng cv t f 8 sc Cpang th sults btand usng th and th ppsd H, t can b sn that th au tacng, th avag tacng and th standad dvatn f th tacng f th H a uch sall than ths f th as shwn n Tabl Thf, th ppsd H sst s SBN:

8 sutabl t cntl th t pstn f th c- PMSM sv dv sst Tabl Pfanc asus f th c-pmsm sv dv at subsqunt ladng Cntll Tacng s ad Tp Mau Avag SD 67 9 H Cnclusns Ths pap ppsd an HCS f c-pmsm sv dv whch guaants th bustnss n th psnc f paat unctants and lad dstubancs Th ppsd cntl sch cpss an CT, an adaptv, PRFNN and a bust cntll Th s usd as th an pstn tacng cntll t c th law and th s dsgnd wth adaptv bund statn algth t cpnsat f th appatn btwn th and th All nln adaptatn cntl laws f th HCS a dvd basd n th Lapunv stablt analss s that th stablt f th c- PMSM sv dv sst can b guaantd Th sulatd sults du t fnc dl tact cnf that th ppsd HCS gants bust pfanc and pcs dnac spns t th fnc dl gadlss f lad dstubancs and c-pmsm paat unctants Fnall, th an cntbutn f ths pap s th succssful dvlpnt, applcatn and plntatn f th HCS wth adaptv thdlg t cntl th t pstn f th c-pmsm cnsdng th stnc f lad dstubancs and paats unctants Rfncs [] Ha, K, and Blans, R: Dsgn f v sall lctagntc and lctstatc c ts, Tans ng Cnvs, 999,,, pp 6 [] Chapan, PL, and Kn, PT: Sall s btt? [cts and lctc dvs], nd Appl Mag, 3, 9,, pp 6 67 [3] LYSHSK S: Mn- and cscal clsd-lp svdvs wth bushlss nts and Cs nlthc aplfs/cntlls CDC-, pp [] ZHANG J, SCHROFF M: Hgh-pfanc ct cntl ssts CON-3, pp 37 3 [] ZHANG J, JANG Q: Snslss cutatn f c PMSMs f hgh-pfanc hgh-spd applcatns CMS-, pp 79 8 [6] CHANG YH, LU TH, WU CC: Dsgn and plntatn f an H cntll f a cpannt-agnt snchnus t pstn cntl sst, T lct Pw Appl, 8,,, pp 8 8 [7] CHANG YH, LU TH, WU CC: Nvl adustabl cpannt-agnt snchnus-t cntl sst wthut usng a t-pstn/spd sns, Pc lct Pw Appl, 6, 3, 3, pp 9 38 [8] CHANG YH, LU TH, CHN D F: Dsgn and plntatn f a bust cntll f a c pannt agnt snchnus spd cntl ssts CCC-7 [9] Zhang, J, and Jang, Q: Snslss cutatn f c PMSMs f hgh-pfanc hgh-spd applcatns CMS-, pp 79 8 [] Chang, YH, Lu, TH, and Wu, CC: Nvl adustabl cpannt-agnt snchnust cntl sst wthut usng a tpstn/spd sns, Pc, lct Pw Appl, 6, 3, 3, pp 9 38 [] Puushtha, A, Gavc, SL, dwads, C, and Nag, ML: A clsd-lp ct cntl sst SCAS-996, pp 9 [] Y G Lu, T T L and W Y Wang, On-ln tunng f fuzz-nual ntw f adaptv cntl f nnlna dnacal ssts, Tans Sst, Man, Cbn, vl 7, n 6, pp 3-3, 997 [3] Y S Lu and J S Chn, A slf-ganzng fuzz sldng-d cntll dsgn f a class f nnlna sv ssts, Tans ndust lctn, vl, n, pp 9, 99 [] F J Ln and C H Ln, Onln gan-tunng P cntll usng RFNN, Tans Asp lctn Sst, vl 37, n, pp 6 67, [] C H L and CC Tng, dntfcatn and Cntl f Dnac Ssts Usng Rcunt-Fuzz-Nual- Ntw, Tansactn n Fuzz Ssts, vl 8, n, pp , [6] C F Hsu and K H Chng, Rcunt Fuzz-Nual appach f nnlna cntl usng dnac stuctu lanng sch, Nucputng, vl 7, n 6-8, pp 37-39, 8 [7] M Ga, M C Zhu, X Haungand Z Wu, Fuzz asnng Pt Nts, Tans Sst, Man, Cbn A, vl 33, n 3, pp 3 3, 3 [8] T Gu, J Ga, and C Zhu, Pt nts wth /O functn hbd dl f ntllgnt cntl ssts, Pc nt Cnf Ssts, Man, Cbntcs, vl, pp 88 8, 996 [9] T Muata, Pt nts: Ppts, analss and applcatns, Pc, vl 77, n, pp 8, 989 [] V R L Shn,, Rnfcnt lanng f hgh-lvl fuzz Pt nts, Tans Sst, Man, Cbn B, vl 33, n, pp 3 36, 3 [] S Ahsn, Pt nt dls f fuzz nual ntws, Tans Sst, Man, Cbn, vl, n 6, pp 96 93, 99 [] R J Wa and C C Chu, Mtn cntl f lna nductn t va Pt fuzz-nual-ntw, Tans nd lctn, vl, n, pp 8 9, 7 [3] R J Wa and C C Chu, Rbust Pt Fuzz-Nual- Ntw Cntl f lna nductn t dv, Tans nd lctn, vl, n, pp 77 89, 7 [] KJ Ast and B Wttna, Adaptv Cntl, Addsn-Wsl, Nw Y, 99 SBN:

9 Rt Pstn ad Tacng ad Rt Spd ad/sc Tacng ad/sc 8 - Rf Actual T sc T sc Rf Actual T sc T sc Rt Pstn ad Tacng ad Rt Spd ad/sc Tacng ad/sc T sc 8 - Rf Actual T sc Rf Actual T sc T sc qs- A 7-7 qs- A T sc T sc qs-a A 7-7 qs-a A T sc T sc ds- A 7-7 ds- A T sc T sc ds-a A 7-7 ds-a A T sc a T sc b Fg 3 Dnac spns f th c-pmsm dv sst f a fnc dl f π ad and subsqunt ladng f N f bth pstn cntlls a Usng cputd tqu pstn cntll b Usng ntllgnt hbd cntl sst wth PRFNN SBN:

10 Rt Pstn ad Rf CT DOF -PDC SHC H T sc Rt Pstn ad Rf 9 8 CT DOF -PDC 7 SHC 6 H T sc Tacng ad Rt Spd ad/sc CT DOF -PDC SHC H T sc 3 3 Rf CT DOF -PDC SHC H T sc Tacng ad Rt Spd ad/sc CT DOF -PDC SHC H T sc - - Rf -37 CT DOF -PDC - SHC -6 H T sc Tacng ad/sc 6 3 CT DOF -PDC SHC H Tacng ad/sc CT DOF -PDC SHC H T sc a T sc b Fg Dnac spns f th c-pmsm dv sst f a fnc dl f π ad and subsqunt ladng f N f dffnt pstn cntlls a Mdl-fllwng spns b Lad gulatn chaactstc spns : cputd tqu cntll, CT: cputd tqu sldng-d cntll, DOF -PDC: tw-dgs-f-fd - PD cntll, : cunt fuzz nual ntw cntll, : Pt, H: hbd SBN: