PREFACE
CHAPTER1/Introduction
1.1overview
1.2ConventionalControlSystemDesign
1.2.1MathematicalModeling
1.2.2PerformanceObjectivesandDesignConstraints
1.2.3ControllerDesign
1.2.4PerformanceEvaluation
1.3FuzzyControlSystemDesign
1.3.1ModelingIssuesandPerformanceObjectives
1.3.2FuzzyControllerDesign
1.3.3PerformanceEvaluation
1.3.4ApplicationAreas
1.4WhatThisBookIsAbout
1.4.1WhattheTechniquesAreGoodFor:AnExample
1.4.2ObjectivesofThisBook
1.5Summary
1.6ForFurtherStudy
1.7Exercises
CHAPTER2/FuzzyControl:TheBasics
2.1Overview
2.2FuzzyControl:ATutorialIntroduction
2.2.1ChoosingFuzzyControllerInputsandOutputs
2.2.2PuttingControlKnowledgeintoRule-Bases
2.2.3FuzzyQuantificationofKnowledge
2.2.4Matching:DeterminingWhichRulestoUse
2.2.5InferenceStep:DeterminingConclusions
2.2.6ConvertingDecisionsintoActions
2.2.7GraphicalDepictionofFuzzyDecisionMaking
2.2.8VisualizingtheFuzzyController'sDynamicalOperation
2.3GeneralFuzzySystems
2.3.1LinguisticVariables,Values,andRules
2.3.2FuzzySets,FuzzyLogic,andtheRule-Base
2.3.3Fuzzification
2.3.4TheInferenceMechanism
2.3.5Defuzzification
2.3.6MathematicalRepresentationsofFuzzySystems
2.3.7Takagi-SugenoFuzzySystems
2.3.8FuzzySystemsAreUniversalApproximators
2.4SimpleDesignExample:TheInvertedPendulum
2.4.1TuningviaScalingUniversesofDiscourse
2.4.2TuningMembershipFunctions
2.4.3TheNonlinearSurfacefortheFuzzyController
2.4.4Summary:BasicDesignGuidelines
2.5SimulationofFuzzyControlSystems
2.5.1SimulationofNonlinearSystems
2.5.2FuzzyControllerArraysandSubroutines
2.5.3FuzzyControllerPseudocode
2.6Real-TimeImplementationIssues
2.6.1ComputationTime
2.6.2MemoryRequirements
2.7Summary
2.8ForFurtherStudy
2.9Exercises
2.10DesignProblems
CHAPTER3/CaseStudiesinDesignandImplementation
3.1Overview
3.2DesignMethodology
3.3VibrationDampingforaFlexibleRobot
3.3.1TheTwo-LinkFlexibleRobot
3.3.2UncoupledDirectFuzzyControl
3.3.3CoupledDirectFuzzyControl
3.4BalancingaRotationalInvertedPendulum
3.4.1TheRotationalInvertedPendulum
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