Adaptive critic based design of a fuzzy motor speed controller

We show the applicability of the dual heuristic programming (DHP) method of approximate dynamic programming to the design of a fuzzy control system. The DHP and related techniques have been developed in the neurocontrol context but can be equally productive when used with fuzzy controllers or neuro-fuzzy hybrids. We demonstrate this technique on a speed controller for a brushless motor. In our example, we take advantage of the Takagi-Sugeno model framework to initialize the tunable parameters of our plant model with reasonable problem specific values, a practice difficult to perform when applying DHP to neurocontrol.