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Abstract
This paper describes a positioning system with a linear DC servo motor (LDM) under self-tuning fuzzy control. Two types of self-tuning fuzzy controllers (STFCs), one a model reference type, the other a feedforward type, are proposed. The objectives of these two types of STFCs are to repress the influence of nonlinear characteristics of the LDM and to improve the tracking performance. The fuzzy rules in the STFC are adjusted by a tuning algorithm so that the tracking error converges to zero. The effectiveness of the proposed STFCs for improvement of the tracking performance is demonstrated by the experimental results.