For more complex applications, the choice of the inputs to the controller and outputs of the controller(inputs to the plant) can be more difficult. Essentially, you want to make sure that the controller will have the proper information available to be able to make good decisions and have proper control inputs to be able to steer the system in the directions needed to be able to achieve high-performance operation Practically speaking, access to information and the ability to effectively control the system often cost money. If the designer believes that proper information is not available for making control decisions, he or she may have to invest in another sensor that can provide a measurement of another system variable. Alternatively, the designer may implement some filtering or other, processing of the plant outputs 倒立摆 Figure 2.3 Human controlling an inverted pendulum on a cart In addition, if the designer determines that the current actuators will not allow for the precise control of the process he or she may need to invest in designing and implementing an actuator that can properly affect the process. Hence, while in some academic problems you may be given the plant inputs and outputs, in many practical situations you may have some flexibility in their choice. These choices affect what information is available for making on-line decisions about the control of a process and hence affect how we design a fuzzy controller Once the fuzzy controller inputs and outputs are chosen, you must determine what the reference inputs are. For th inverted pendulum, the choice of the reference input r=0 is clear. In some situations, however, you may want to choose r as some nonzero constant to balance the pendulum in the off-vertical position. To do this, the controller must maintain the cart at a constant velocity so that the pendulum will not fall ↓a模糊控制器 倒立摆 Figure 2. 4 Fuzzy controller for an inverted pendulum on a cart After all the inputs and outputs are defined for the fuzzy controller, we can specify the fuzzy control system. The fuzzy control system for the inverted pendulum, with our choice of inputs and outputs, is shown in Figure 2. 4. Now, within this framework we seek to obtain a description of how to control the process. We see then that the choice of the inputs and outputs of the controller places certain constraints on the remainder of the fuzzy control design process If the proper information is not provided to the fuzzy controller, there will be little hope for being able to design a good rule-base or inference mechanism. Moreover, even if the proper information is available to make control decisions this will be of little use if the controller is not able to properly affect the process variables via the process inputs. It mustFor more complex applications, the choice of the inputs to the controller and outputs of the controller (inputs to the plant) can be more difficult. Essentially, you want to make sure that the controller will have the proper information available to be able to make good decisions and have proper control inputs to be able to steer the system in the directions needed to be able to achieve high-performance operation. Practically speaking, access to information and the ability to effectively control the system often cost money. If the designer believes that proper information is not available for making control decisions, he or she may have to invest in another sensor that can provide a measurement of another system variable. Alternatively, the designer may implement some filtering or other, processing of the plant outputs. Figure 2.3 Human controlling an inverted pendulum on a cart In addition, if the designer determines that the current actuators will not allow for the precise control of the process, he or she may need to invest in designing and implementing an actuator that can properly affect the process. Hence, while in some academic problems you may be given the plant inputs and outputs, in many practical situations you may have some flexibility in their choice. These choices affect what information is available for making on-line decisions about the control of a process and hence affect how we design a fuzzy controller. Once the fuzzy controller inputs and outputs are chosen, you must determine what the reference inputs are. For the inverted pendulum, the choice of the reference input r = 0 is clear. In some situations, however, you may want to choose r as some nonzero constant to balance the pendulum in the off-vertical position. To do this, the controller must maintain the cart at a constant velocity so that the pendulum will not fall. Figure 2.4 Fuzzy controller for an inverted pendulum on a cart After all the inputs and outputs are defined for the fuzzy controller, we can specify the fuzzy control system. The fuzzy control system for the inverted pendulum, with our choice of inputs and outputs, is shown in Figure 2.4. Now, within this framework we seek to obtain a description of how to control the process. We see then that the choice of the inputs and outputs of the controller places certain constraints on the remainder of the fuzzy control design process. If the proper information is not provided to the fuzzy controller, there will be little hope for being able to design a good rule-base or inference mechanism. Moreover, even if the proper information is available to make control decisions, this will be of little use if the controller is not able to properly affect the process variables via the process inputs. It must