ABSTRACT
In this chapter, an auto-adaptive scheme is presented for fuzzy PD controllers. The proposed scheme is a novel approach based on an online modifying parameter, which is updated by normalised change of error (Δe) of the process. Further, a fuzzy-based dynamic Setpoint weighting (FSW) technique is incorporated. Implementation of the proposed adaptive technique along with setpoint weighting scheme on fuzzy PD controllers helped to control any system very effectively. Controlling the swing angle and cart position of the pendulum arm with load in its inverted position is a very difficult job. The effectiveness of the proposed setpoint weighting auto-adaptive fuzzy PD controller (FSW-AAFPDC) is tested to control the dual pendulum arm at its inverted position on a laboratory-based inverted pendulum.
