Nigerian Journal of Technology (NIJOTECH)

Vol. 36, No. 2, April 2017, pp. 594 – 602

Copyright© Faculty of Engineering, University of Nigeria, Nsukka,
Print ISSN: 0331-8443, Electronic ISSN: 2467-8821
www.nijotech.com
http://dx.doi.org/10.4314/njt.v36i2.35

CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM

I. H. Usoro1, U. T. Itaketo2 and M. A. Umoren3,*

1, 2, 3 DEPT. OF ELECTRICAL/ELECTRONIC AND COMPUTER ENGINEERING, UNIV. OF UYO, AKWA IBOM STATE, NIGERIA.
E-mail addresses: [email protected], [email protected], [email protected]

ABSTRACT
This study sought to establish the impact of a fuzzy logic controller (FLC) and a ProportionalIntegralDerivative (PID)
controller in the control performance of an industrial type DC motor using MATLAB. The fuzzy logic controller was
developed on the basis of Mamdani type fuzzy inference system (FIS). The centroid method of defuzzification was also
adopted. A choice of seven membership functions was designed for the error and change in error inputs alongside the
output, hence a resultant of 49 rules was achieved for the fuzzy controller. Simulations for the PID controller and with the
fuzzy controller were obtained at no load and for a selected reference speed of 1200 rpm. The simulations were further
repeated for a load torque of 7Nm with the same reference speed. The simulated results were compared. Based on the
findings, it was observed that the fuzzy speed controlled DC motors perform better than the PID speed controlled DC
motors in terms of its faster settling time, absence of an overshoot and its sensitivity to applied load. Sequel to the
foregoing findings, the researchers concluded that fuzzy logic controllers should be readily implemented in our local
industries to enhance precision and improve performance in operations involving DC motors.

Keywords: DC motor, Fuzzy logic, Rule base, PID Controller, Fuzzification

1. INTRODUCTION intelligent controllers in frequent use today are adaptive

Over the years, most of the advancements in science and controllers, artificial neural networks (ANNs), and fuzzy
technology were as a result of developments made in logic controllers (FLCs). The ability of fuzzy logic
control systems technology [14]. One of such advances is controller to handle imprecise and inconsistent real-
in the development of high performance direct current world problems has made it suitable for a wide variety of
(DC) motor drives for industrial, as well as other applications [10].
applications. A DC motor can be defined as an actuator Efficient control is tightly related to improvements in the
that converts electrical energy into rotational mechanical quality of industrial production processes. In industries
energy [5]. employing DC motors for their operations, various
The need to attain optimal performance of dynamic conditions such as changes in motor load demand, non-
systems, improve product quality, lessen the cost of linearity, disturbances, etc. have made it quite difficult
production and relieve repetitiveness in manual for their efficient performance [1]. PID controllers
industrial control operations, led to the design of a amongst other conventional controllers have been used
number of conventional control mechanisms such as to tackle some of these problems. However, PID
proportional (P), proportional – integral (PI), controllers still show some lag in its speed response to
proportional – derivative (PD) and proportional – motor load demands. The potential of FLCs in resolving
integral – derivative (PID) controllers [13]. However, imprecision and non-linearity by heuristic knowledge of
these conventional control mechanisms developed for real life dynamic systems through user friendly
the control of dynamic systems were faced with interfacing has hereby made it paramount in its adoption
challenges arising from non-linearity and uncertainties towards addressing speed related control issues in DC
that are characteristic of real-life control problems [12]. motors [2].
The era of artificial intelligence (AI), led to the creation
of intelligent machines. An intelligent machine, according 2. REVIEW OF RELATED LITERATURE
to [4], is a system that is able to achieve a goal or Fuzzy logic theory was introduced by Professor Lofti A.
sustained behaviour under conditions of uncertainty. Zadeh in 1965 and is based on the concept of fuzzy sets
These machines were designed to act independently [9, 12]. Fuzzy logic theory, on which fuzzy control is
through the use of intelligent controllers. Some of the based, provides an effective means of capturing the

* Corresponding author, tel: +234-703-154-2457

 CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM I. H. Usoro, U. T. Itaketo& M. A. Umoren

approximate, imprecise nature of the real world. The be undertaken by the inference engine. Should an error
papers of Zadeh on the linguistic approach and system exist, the inference engine looks up the corresponding
analysis based on the theory of fuzzy sets led to the membership values as defined by the condition of the
pioneering research by Mamdani and his colleagues [12]. rule and maps it to the appropriate output membership
According to Zadeh, fuzzy set theory provides a means function to be defuzzified (i.e. converted to a crisp
for representing uncertainty. In general, probability is output).
the primary tool for analyzing uncertainty, and assumes Rule Base: This step involves regulating a process output
that uncertainty is a random process. However, not all around a desired set point or reference value. There are a
uncertainty is random and fuzzy set theory is used to variety of different methods available for presenting the
model the kind of uncertainty associated with “IF-THEN” rule format [1]. The fuzzy rule base consists of
imprecision, vagueness and lack of information. a set of antecedent and consequent linguistic rules of the
The fuzzy logic controller (FLC) provides an algorithm form; IF part called the "antecedent" and the “THEN” part
which can convert a linguistic control strategy into an called the "consequent"
automatic control strategy [6].Viewed in this perspective, Defuzzification: Defuzzification is the procedure for
the essential part of the fuzzy logic controller (FLC) is a mapping from a set of inferred fuzzy control signals
set of linguistic control rules related to fuzzy implication contained within a fuzzy output window to a non-fuzzy
and its rule of inference [9]. The Fuzzy controller (crisp) control signal [11]. According to [15, 1, 16],
converts a linguistic control strategy into an automatic defuzzification occurs when all the actions that have
control strategy. Fuzzy rules are constructed by expert been activated are combined and converted into a single
experience or knowledge database [6, 10, 16].The basic non-fuzzy output signal which is the control signal of the
fuzzy logic control system is composed of a set of input system. The output levels are depending on the rules that
membership functions, a rule-based controller, and a the systems have and the positions depending on the
defuzzification process. The structure of a fuzzy logic non-linearity’s existing to the systems. There are five
controller is illustrated in Figure 1. built-in methods supported: Centroid, bisector, middle of
maximum (the average of the maximum value of the
output set), largest of maximum, and smallest of
maximum. The centre of area (centroid) method is the
most well-known defuzzification technique which is
expressed as:

For a continuous system, equation (1) becomes

∫
Figure 1: Structure of a fuzzy logic controller (Source
[6]). ∫
According to [12] an alternative equation for a discrete
A typical fuzzy logic controller as illustrated in Figure 1, system is given as
has the following modules: preprocessing, fuzzification, ∑
fuzzy inference, rule-base, defuzzification, post- ∑
processing. Each module is explained/ described as In (3), µ represents the fuzzy membership values from µi
follows: .….µn, u is the crisp output signal.
Preprocessing: The inputs are most often hard or crisp Post-processing: Post-processing is used to scale the
measurement from some measuring equipment rather output of the controller. Not every control signal sent
than linguistic. A preprocessor, shows the conditions and from the controller to the post-processing block will
measurements before entering the controller [7]. require scaling[13]. Therefore this block would be
Fuzzification: The process of converting a numerical defined by a process engineer according to the process
variable (real number or crisp variables) into a linguistic dynamics of the system. It often contains an output gain
variable (fuzzy number) using the membership functions that can be tuned and also serve as an integrator [3].
stored in the fuzzy knowledge base [9, 11].
Inference Engine: There are two types of fuzzy inference 3. METHODOLOGY
systems that can be implemented in the Fuzzy Logic Two design techniques adopted in this study were:
Toolbox: Mamdani-type and Sugeno-type [8, 11]. The mathematical modeling based on first principles; and via
rules of the fuzzy controller map the strategy course to simulations. These two techniques complement each

Nigerian Journal of Technology Vol. 36, No. 2, April 2017 595

 CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM I. H. Usoro, U. T. Itaketo& M. A. Umoren

other as they are both needed to achieve desirable the motor used has either interpoles or compensating
results. A simulation environment in MATLAB was built. winding to minimize the effects of armature reaction.
Prior to running the simulation in MATLAB/SIMULINK, When the field current is constant, the flux induced by
the fuzzy logic controller was designed. This was done the field winding remains constant, and usually it is held
using the fuzzy inference system (FIS) editor. The design at its rated value Φ. The voltage, eb, is the back emf in
of the fuzzy logic controller required choosing volts. In a separately-excited DC motor, the back emf is
appropriate membership functions after which a proportional to the product of speed of motor and the
convenient rule base was created. field. Considering the armature controlled D.C. motor in
Figure 2 and assuming that the demagnetizing effect of
3.1 System Design Model armature reaction is neglected, the magnetic circuit is
The chosen system is an industrial type, armature- assumed linear and the field voltage is constant i.e. I f =
controlled separately excited permanent magnet DC constant.
motor (PMDC). Its equivalent circuit is shown in Figure The back EMF eb is directly proportional to the speed,
2. hence:
⁄ ω
Ia Ra La Applying KVL to the armature circuit we get
If

Lf Constant From Newton’s nd law of mechanical dynamics, the

ea field voltage motor torque can be obtained as
T J, Bm

Where l (t) is the motor load torque (Nm)

Figure 2: Equivalent Circuit diagram of an armature-
Taking Laplace transform of equations (4), (5), and (6)
controlled separately excited DC .motor.
respectively we obtain
In Figure 2, Ra is the armature resistance Ω ; L a is the
armature self-inductance caused by armature flux (H); I a
is the armature current (A); If is the field current (A); ea
is the input voltage (V); eb is the back electromotive force (All at zero initial conditions)
(EMF) (V); m is the torque developed by motor Nm ; Ө The angular position is given as:
is the angular displacement of the motor shaft; ω is the 1
angular velocity of rotor (rad/s); J is the rotor inertia Equations (7 – 10) can be represented in block diagram
(Kgm2); B is the equivalent coefficient of friction of form as shown in Figure 3.
motor and load referred to the motor (Nms/rad); Kv is The transfer function with respect to input voltage is
the EMF constant (Vs/rad); KT is the torque constant expressed as:
(Nm/A).
11
In the description of the motor, the armature reaction
effects are ignored. This assumption is justifiable since

Figure 3: Block diagram of the armature controlled DC motor

Nigerian Journal of Technology Vol. 36, No. 2, April 2017 596

 CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM I. H. Usoro, U. T. Itaketo& M. A. Umoren

1
[ ]
Our specified DC motor parameters are as follows: Rated Power: 3.7kW; Rated Speed: 1750rpm; Supply Voltage: 240V;
La = 0.1214H; B = 0.002953Nms/rad; Ra 11. Ω; J . 1 kgm2; KT = 1.28NmA; Kv = 0.0045 Vs/rad
(Ahmed et al, 2013);
Putting these parameter values into the transfer function (equation 12), the equation becomes:
1.
1
. 1 . 1 . 1
1.
1
[ . . . ] 1

Equation (14) is further simplified as change in speed error (ce) and control output (u). The
1 membership functions of the inputs and outputs were
1
[ . . . ] designed after the rule data base, and the controller was
Equation (15) represents the transfer function of the DC tested on the system to adjust any seemingly wrong
motor based on chosen motor parameters. Figure 4 parameters.
shows the DC motor model built in Simulink. The motor The rule base works by monitoring the error and change
model is a single input single output system. The input in error of the controller system. The rule base was
port is the armature voltage (Va), while the output port is formulated using fuzzy operators in IF – THEN
the angular speed. The load torque (TL) and armature statements i.e. IF (Process State – input parameters
current (Ia) outputs were included for observation defined using fuzzy operator) THEN (Control Output).
purposes. This model is not pre-existent in the matlab The choice of the fuzzy operator used was the Minimum
environment. (Product) fuzzy operator. The general rules for the DC
motor speed control were that if motor speed is less than
the desired speed, then increase motor speed and if
motor speed exceeds the reference speed, then reduce
the speed. If the error is large positive and the change in
error is large negative, then the output of the controller
must be zero and there is no need to increase the motor
speed to meet the reference point which is directly
proportional to the voltage of the controller. These fuzzy
rules are summarized in the fuzzy rule matrix shown in
Figure 4: Simulink functional block model of the DC Table 1.
motor Subsystem Illustrating the fuzzy rule matrix Table 1 for three valid
rules,
In the fuzzy logic controller design, the inputs and output 1. IF the error (e) is Small Negative (SN) AND the
linguistic variables were partitioned into seven (7) fuzzy change in error (ce) is Large Positive (LP), THEN the
subsets and are presented by seven (7) membership control action (u) is Medium Positive (MP).
functions which are; Large Negative (LN), Medium 2. IF the error (e) is Zero (Z) AND the change in error
Negative (MN), Small Negative (SN), Zero (Z), Small (ce) is Large Negative (LN), THEN the control action
Positive (SP), Medium Positive (MP), Large Positive (LP). (u) is Large Negative (LN)
A triangular membership function was defined for each
input and output variables which are: speed error (e),

Table 1: Fuzzy Rule Matrix Table

ce LN MN SN Z SP MP LP
e
LN LN LN LN LN MN SN Z
MN LN LN LN MN SN Z SP
SN LN LN MN SN Z SP MP
Z LN MN SN Z SP MP LP
SP MN SN Z SP MP LP LP
MP SN Z SP MP LP LP LP
LP Z SP MP LP LP LP LP

Nigerian Journal of Technology Vol. 36, No. 2, April 2017 597

 CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM I. H. Usoro, U. T. Itaketo& M. A. Umoren

3. IF the error (e) is Medium Positive AND the change

in error (ce) is Medium Negative (MN), THEN the Table 2: Numerical Range of Linguistic Variable for
control action (u) is Zero (Z). error e(t)
The error and change in error of the fuzzy controller is Linguistic Notation Numerical Range
measured by the following formula: variable
Error 1 Large Negative LN [ -1, -0.667]
hange in error ce k e k e k 1 1 Medium Negative MN [-1, -0.667, -0.3332]
Small Negative SN [-0.667, -0.3333, 0]
In (17), ωref is the reference speed and ωm is the
Zero Z [-0.3333, 0, 0.3333]
measured speed.
Small Positive SP [0, 0.3333, 0.6667]
Medium Positive MP [0.3333, 0.6667,
3.1 The Fuzzy System Toolbox Setup
0.9993]
The implementation of the FLC requires the choice of Large Positive LP [0.667, 1]
four key factors which are; the number of fuzzy sets
that constitute linguistic variables, mapping the
measurements into the support sets, control protocol Table 3: Numerical Range of Linguistic Variables for
that determines the controller behaviour and the shape Change in error ce(t)
of the membership functions. Linguistic Notation Numerical Range
Table 2 shows the numerical range of values for the variable
input error and its corresponding linguistic notation Large Negative LN [-1, -0.667]
ranging between -1 and 1 with seven triangular shaped Medium Negative MN [-1, -0.667, -0.3332]
membership functions. Small Negative SN [-0.667, -0.3333, 0]
Zero Z [-0.3333, 0, 0.3333]
The seven triangular shaped membership functions for
the change in error ce (t) are illustrated in Figure 6. Small Positive SP [0, 0.3333, 0.6667]
The seven triangular shaped membership functions for Medium Positive MP [0.3333, 0.6667,
0.9993]
the input variable error e(t) are illustrated in Figure 5
Large Positive LP [0.667, 1]
Table 3 shows the numerical range of values for the
change in error and its corresponding linguistic
notation ranging between -1 and 1 with seven
triangular shaped membership functions.

Figure 5: Triangular membership functions for input speed error e(t)

Figure 6: Triangular membership functions for change in error ce(t)

Nigerian Journal of Technology Vol. 36, No. 2, April 2017 598

 CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM I. H. Usoro, U. T. Itaketo& M. A. Umoren

Figure 7 illustrates the representation of the seven

output membership functions. The speed limit is given at Table 4: Numerical Range of Linguistic Variables for
1750 rpm. Output u(t)
The rule base editor screen shown in Figure 8 locates Linguistic variable Notation Numerical Range
where the FLC rules are set. A set of 49 rules was created Large Negative LN [ -1, -0.667]
for the three linguistic variables error e(t), change in Medium Negative MN [-1, -0.667, -0.3332]
error ce(t) and the output u(t) using the minimum Small Negative SN [-0.667, -0.3333, 0]
inference rule. Figure 9 shows the rules viewer for the Zero Z [-0.3333, 0, 0.3333]
fuzzy controller. The rules behaviour can be checked Small Positive SP [0, 0.3333, 0.6667]
here by changing the error e(t), and changing the change Medium Positive MP [0.3333, 0.6667,
in error ce(t) and monitoring the output u(t). For 0.9993]
instance in figure 9, when the input error e(t) = -0.2 and Large Positive LP [0.667, 1]
the change in error ce(t) = 0.5, the output u(t) = 0.312.

Figure 7: Triangular membership functions for variable output u(t)

Figure 8: Rule base Editor for the fuzzy controller

Nigerian Journal of Technology Vol. 36, No. 2, April 2017 599

 CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM I. H. Usoro, U. T. Itaketo& M. A. Umoren

Figure 9: The Rules Viewer for the fuzzy controller

FUZZY controller at no load, are presented in Figures 11,
and 12 respectively.

Figure 10: Simulink functional diagram of the fuzzy logic

controller

Figure 10 represents the functional diagram of the fuzzy

logic controller for the DC motor system built in
Simulink. The reference speed is a unit step block. The
Figure 11: Response of system with the PID controller for
load torque is also a step functional block ranging
reference speed of 1200 rpm at no load
between no load to 20Nm load torque. The simulation of
the above block was clocked and sent to the workspace
to be called up for representation in the Graphical User
Interface (GUI) screen.

4. RESULT AND DISCUSSION

The effects of the models’ performance based on varying
input model parameters such as load torque and
reference speed. The impact of these varied input
parameters on system performance in terms of rise time,
settling time, peak overshoot and peak speed value were
assessed. A reference speed of 1200 rpm was randomly
selected at no load. This selected reference speed was
Figure 12: Response of system with fuzzy controller for
later repeated for a load torque of 7Nm. Their
reference speed of 1200rpm at no Load
corresponding responses with and without load were
The summary of the data in Table 5 shows the
displayed with the PID controller, and with the Fuzzy
performance indices for the collective time responses of
controller.
the DC motor with a PID controller and with a Fuzzy
controller displayed in Figures 11 and 12 respectively for
4.1 System Performance for Reference Speed of 1200 rpm
a reference speed of 1200 rpm at no load.
at no Load
The system’s response and performance for a reference
speed of 1200 rpm with the PID controller and with the

Nigerian Journal of Technology Vol. 36, No. 2, April 2017 600

 CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM I. H. Usoro, U. T. Itaketo& M. A. Umoren

Table 5: System performance for reference speed of 1200rpm and at no load

Rise time Tr Settling time Ts Peak Speed Value
Controller Max. Overshoot (%)
(Sec) (Sec) (rpm)
With PID controller 0.224 1.387 18.3 1420
With Fuzzy controller 0.44 0.781 0 1200

Table 6: System Performance for reference speed of 1200rpm at a load of 7Nm

Rise time Tr Settling time Ts Max. Overshoot Peak Speed Value
Controller
(Sec) (Sec) (%) (rpm)
With PID controller 0.224 6.16 18.3 1420
With Fuzzy controller 0.44 0.781 0 1200

It can be deduced from this table that when compared speed has been carried out in this work. The simulation
with the PID controller, the fuzzy controller does not results were obtained using MATLAB/SIMULINK
experience any overshoot due to its steady rise time. software.
Also, it takes the fuzzy controller a shorter settling time
to stabilize at the desired speed value of the motor.
The PID controller on the other hand possesses an
overshoot due to its quicker rise time, resulting in a
higher peak speed value thus taking a longer time to
stabilize to the desired motor speed value.

4.2. System Performance for Reference Speed of 1200 rpm

at 7Nm Torque Load
The system response and performance for a reference
speed of 1200 rpm with the PID controller and with the
FUZZY controller at 7Nm load are presented in Figures
13 and 14 respectively.
The summary of data analysis in Table 6 indicates the Figure 13: Response of System with PID controller for
performance indices for the collective time responses of reference speed of 1200rpm at 7Nm load torque.
the DC motor with the PID controller and with the Fuzzy
controller displayed in Figures 13 and 14 respectively for
a reference speed of 1200 rpm at a load torque of 7 Nm.
In the event of an applied load torque, it can be deduced
from Table 6 that when compared with the PID
controller, the fuzzy controller does not experience any
overshoot due to its unchanged steady rise time. The
fuzzy controller’s settling time also remains unchanged.
It can also be observed in Figure 14, that up to the point
of the applied load, the speed of the motor remained
undisturbed. The fuzzy controller quickly adapts to the
introduction of the load torque thereby maintaining the
desired speed value of the motor.
On the other hand, the PID controller still possesses an Figure 14: Response of System with Fuzzy controller for
overshoot, resulting in a higher peak speed value. reference speed of 1200rpm at 7Nm load torque.
However, in Figure 13, at the moment the load is applied,
there is an indicated drop in the speed of the motor Comparisons were drawn from the DC motor responses
which eventually stabilizes after a few seconds. between the PID controlled and Fuzzy controlled DC
motor. The most desirable performance requires that the
5. CONCLUSION controllers have the smallest possible value for the
The analysis on the performance of PID controllers and maximum overshoot and the settling time. It is also
FUZZY LOGIC Controllers in the control of DC motor

Nigerian Journal of Technology Vol. 36, No. 2, April 2017 601

 CONTROL OF A DC MOTOR USING FUZZY LOGIC CONTROL ALGORITHM I. H. Usoro, U. T. Itaketo& M. A. Umoren

required for the final speed value to be as close as [7] Harith M., Remya K. P. and Gomath S. “Speed
possible to the desired/referenced speed value. Control of Brushless DC Motor Using Fuzzy Based
From the foregoing results, it can be observed that in ontroller”, International Research Journal of
Engineering and Technology (IRJET), Volume 02
controlling the speed of the DC motor, the Fuzzy
Issue 04, , pp. 875- 881. 2015.
controller performs more effectively than the PID
controller due to the absence of an undesirable [8] Kaur, A. & Kaur A. “ omparison of Mamdani Type
overshoot, its faster settling time and its ability to and Sugeno Type Fuzzy Inference Systems for Air
onditioning System”, International Journal of Soft
maintain DC motor speed irrespective of the torque load
Computing and Engineering (IJSCE), pp. 2231 –
applied. 2307. 2012.
On the premise of these findings, it would be tactful in
[9] Suradkar, R. P. and Thosar, A. G. “Enhancing the
keeping the nation abreast with the era of artificial
Performance of DC Motor Speed Control Using
intelligence if fuzzy logic controllers could be readily Fuzzy Logic”, International Journal of Engineering
implemented in our local industries to enhance precision Research and Technology, IJERT, pp. 103-110,
and improve performance in operations involving DC 2012.
motors.
[10] Monika & Amrit K. “ omparison of Fuzzy Logic and
Neuro Fuzzy Algorithms for Load Sensor”,
6. REFERENCES International Journal of Soft Computing and
Engineering (IJSCE), Volume-3, Issue-2, pp. 219-
[1] Ahmed, H., Singh, G., Bhardwaj, V., Saurav, S., and 222. 2013.
Agrawal, S. “ ontrolling of D Motor using Fuzzy
Logic ontroller”, Conference on Advances in [11] Mathworks Inc “Simulink Getting Started Guide”
Communication and Control Systems,, DIT www.apmath.spbu.ru/ru/staff/smirnovmn/files/s
University, pp. 666-670, 2013. l_gs.pdf, Access on February 21, 2017.

[2] Aisha J., Sadi M., and Syed O. “Controlling Speed of [12] Nagrath, I. J. and Gopal, M. “Control Systems
DC Motor with Fuzzy Controller in Comparison Engineering”. Fifth Edition, Delhi, India, 2010
with ANFIS ontroller”, Intelligent Control and [13] Nwodoh T. and Ejimofor I. “Implementation of
Automation, Vol. 6, pp. 64-74, 2015. fuzzy logic based temperature-controlled, heat
[3] Asgharpour-alamdari H., Alinejad-beromi Y., and exchanger”, Nigerian Journal of Technology, Vol.
Yaghob H. “A fuzzy-based Speed Controller for 29 Number.1, pp. 94-109. 2010.
Improvement of Induction Motor's Drive [14] Ogbogu, S. E. & Itaketo U. T. Systems and Control
Performance”, Iranian journal of fuzzy systems, Engineering, Nnewi: M C Computer Press, Nnewi,
vol. 13, no. 2, pp. 61-70, 2016. Nigeria, 2006
[4] Burns, R. S. Advanced Control Engineering, Jordan [15] Rai, J. N., Singhal, M. & Nandwami, M. “Speed
Hill, Oxford, 2001 control of D Motor using Fuzzy Logic Technique”.
[5] Choi, J., “Modelling of DC Motors: Control Systems Journal of Electrical and Electronics Engineering
Lectures”, Department of Mechanical Engineering, (IOSR - JEEE), pp. 41 – 48. 2012.
University of British Columbia, pp. 1-15. 2008, [16] Yen, J & Langari, R. Fuzzy Logic. Upper Saddle
[6] Gupta, M. M. and Tsukamato, Y. Fuzzy Logic River, New Jersey, 2004.
Controllers – Perspective San Francisco, California,
1980

Nigerian Journal of Technology Vol. 36, No. 2, April 2017 602