On the Novel Design and FPGA Implementation of a Fuzzy PD Control for a DC Motor

In this work, a parametrizable and modular architecture design for the implementation of a Mamdani-like fuzzy controller (MLFC) for a DC motor is presented. The proposed architecture permits making modifications to the implemented controller in a simpler fashion. In order to avoid noise problems with the time derivative of signals, a robust sliding mode differentiator was used. This differentiator has been proven to be more effective than classic differentiators. Real-time results showed its effectiveness and good performance by successfully tracking step-wise and sinusoidal reference signals, obtaining errors of less than 2 % in steady state.