Fuzzy self-tuning of PID controllers

Abstract

This paper presents a novel fuzzy self-tuning PID control scheme for regulating industrial processes. The essential idea of the scheme is to parameterize a Ziegler-Nichols-like tuning formula by a single parameter α, then to use an on-line fuzzy inference mechanism to self-tune the parameter. The fuzzy tuning mechanism, with process output error and error rate as its inputs, adjusts α in such a way that it speeds up the convergence of the process output to a set-point yr, and slows down the divergence trend of the output from yr. A comparative simulation study on various processes, including a second-order process, processes with long dead-time and non-minimum phase processes, shows that the performance of the new scheme improves considerably, in terms of set-point and load disturbance responses, over the PID controllers well-tuned using both the classical Ziegler-Nichols formula and the more recent Refined Ziegler-Nichols formula. © 1993.