A fuzzy PID controller for nonlinear and uncertain systems

Abstract

 In order to control systems that contain nonlinearities or uncertainties, control strategies must deal with the effects of these. Since most control methods based on mathematical models have been mainly focused on stability robustness against nonlinearities or uncertainties, they are limited in their ability to improve the transient responses. In this paper, a nonlinear fuzzy PID control method is suggested, which can stably improve the transient responses of systems disturbed by nonlinearities or unknown mathematical characteristics. Although the derivation of the control law is based on the design procedure for general fuzzy logic controllers, the resultant control algorithm has analytical form with time varying PID gains rather than linguistic form. This means the implementation of the proposed method can be easily and effectively applied to real-time control situations. Control simulations are carried out to evaluate the transient performance of the suggested method through example systems, by comparing its responses with those of the nonlinear fuzzy PI control method developed in [9].