Implementation of Fuzzy Gain-Scheduled PID Controller on Multi-Degree of Freedom Rotary Torsion System

Abstract

The dynamics of rotary torsion systems, which have various industrial applications, are a significant challenge in control engineering. In this study, the fuzzy gain-scheduled PID controller is designed and employed for angular position control of the multi-dof rotary torsion system. This system consists of a DC servomotor with a gear reduction and two rotary torsion load disks that are flexibly coupled to the output shaft of the servomotor. To improve the torsion angular position control performance of the system compared to traditional controllers, the design, implementation, and simulation of the fuzzy gain-scheduled PID controller, which is an intelligent knowledge-based control method, have been performed. In this more effective control approach, the gains are fuzzy-based self-tuning depending on the error. The simulation results indicate that the proposed method ensures more control effort by overcoming challenges from nonlinearity and reducing the step response times compared to the conventional PID controller. © 2025 IEEE.