Phase plane tuning of fuzzy controller for 1 DoF helicopter model

The paper suggests a design procedure for fuzzy cascade control. The expert knowledge based tuning procedure is supported by investigation the phase plane of the reference tracking. The plant is a one degree of freedom helicopter model with highly non-linear dynamics in a hardware-in-the-loop arrangement. Starting from a common fuzzy-PI controller in the outer loop and classic PI-controller in the inner loop, the presented tuning procedure enables to obtain fuzzy-adaptive parameter settings of the inner-loop and a heuristic modified rule base in the outer loop. The developed control strategy proves to be very successful: both the settling times and overshoots have become well regulated.