Methodology to design fuzzy logic controller for soft-core embedded into FPGA

In this paper, the methodology for the design of fuzzy controllers for softcore processors, such as the Xilinx Microblaze embedded in the VIRTEX5 FPGA, is proposed to regulate the angular position of the axes of an experimental platform. The platform uses servomotors to control the rotational movements of the X-Y-Z axes, this with respect to the earth horizon. The angular position is feedback using three inclinometers sensors based on MEMS technology with SPI interface. The desired position is regulated using three independent fuzzy PD+I controllers, which use the error and change of error as input signals. The proposed methodology consists in the design and evaluation of the fuzzy controllers using the Fuzzy Logic Toolbox of Matlab.