# Stable Rules Definition for Fuzzy TS Speed Controller Implemented for BLDC Motor
## 5 Conclusions  
This paper focused on two main points: the design process of a fuzzy speed controller applied to an electric drive with a BLDC motor, and the hardware construction proposed and used for the experimental tests.  
The designed fuzzy rules base was defined according to the Lyapunov stability criterion. The candidate function was fitted to the presented problem and derived in order to generate the stability condition. A successful approach to controller tuning with a meta-heuristic optimization algorithm was also presented. For this purpose, the Chameleon Swarm Algorithm was used. The combination of the above-mentioned methods was a novel solution for problematic issues related to the fuzzy controller design process. It led to the efficient application of this algorithm, known from artificial intelligence, to an electric drive.  
The whole hardware controller deployment process turned out to be complex in some areas. One of the greatest difficulties faced during hardware controller development was related to software integration issues. The deployment process showed that having all devices send and receive the necessary commands in a particular time window is crucial for making the whole system work properly and may be a huge concern.  
The main feature observed in the tests was the robustness of the fuzzy controller against parametric disturbance. A modified mechanical time constant did not significantly affect the speed transients. The achieved results confirmed the precise operation of the drive according to the reference waveform.  
Figure 20: Influence of the fuzzy speed controller parameters on the operation of the electric drive with the BLDC motor (changes in relation to the optimized values): (**a**) integrator gain increased, (**b**) derivative gain increased, (**c**) each gain decreased, (**d**) each gain increased.  
The successful accomplishment of the described project constitutes a promising base for future work. One of the possible avenues of future work is rebuilding the whole device using SMD components and independent microcontroller units placed on a single PCB board. In this way, it would be possible to reduce the size of the assembled device. The developed hardware may also be used as an alternative device for testing different control algorithms, as it may be a competitive solution compared to, e.g., the popular dSPACE system, commonly used in the field of electric drives.  
Conceptualization, M.K.; methodology, M.K. and D.D.F.; software, G.K. and M.M.; validation, M.K., D.D.F., G.K. and M.M.; formal analysis, M.K. and D.D.F.; investigation, M.K., M.M. and G.K.; data curation, G.K. and M.M.; writing--original draft preparation, M.K., M.M., G.K. and D.D.F; writing--review and editing, M.K., M.M., G.K. and D.D.F.; visualization, G.K. and M.M.; supervision, M.K. and D.D.F.; project administration, M.K. All authors have read and agreed to the published version of the manuscript.  
This research received no external funding.  
Not applicable.  
Data is contained within the article.  
The authors declare no conflict of interest.  
The following abbreviations are used in this manuscript:  
\begin{tabular}{l l} AI & Artificial intelligence \\ BLDC & Brushless DC motor \\ CSA & Chameleon Swarm Algorithm \\ HMI & Human-machine interface \\ HVAC & Heating, ventilation, and air conditioning \\ IGBT & Insulated-gate bipolar transistor \\ PPR & Pulses per revolution \\ PWM & Pulse width modulation \\ RAM & Random-access memory \\ \end{tabular}