Xudong Yao

Publication Date


Document Type


First Advisor

Bobis, James P.

Degree Name

M.S. (Master of Science)

Legacy Department

Department of Electrical Engineering


Electronic controllers; Neural networks (Computer science); Nonlinear systems; Fuzzy systems


Physical systems are inherently nonlinear. Nonlinear system can be described by nonlinear differential equations. Some common nonlinear system behaviors are multiple equilibrium points, limit cycles, bifurcation, chaos. For nonlinear control, the research task involved constructing a controller so that the closed loop system meets the desired characteristics. This paper shows the construction process for a neural-fuzzy robust adaptive position controller using MATLAB. For this project's controller, the fuzzy approach is used in order to convert human knowledge into control knowledge. The fuzzy membership functions and rules were implemented with both a backpropagation feedforward neural network and a logical network. A novel devised adaptive algorithm is used to adjust the centroid parameter. To demonstrate the robustness (which is the ability to control different nonlinear models) of this controller, two first order and two second order nonlinear plants, a chaotic system, and a pendulum model are used to implement the simulation. The results show that the controller cancels the nonlinear terms in the system and causes the system to converge to step inputs.


Includes bibliographical references (leaf [72])


viii, 84 pages




Northern Illinois University

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