Fuzzy Sets and Systems 115 (2000) 321326

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A PID type fuzzy controller with self-tuning scaling factors

Zhi-Wei Woo, Hung-Yuan Chung , Jin-Jye Lin
Department of Electrical Engineering, National Central University, Chung-Li, 32054, Taiwan Received February 1998; received in revised form April 1998

Abstract By relating to the conventional PID control theory, we propose a new fuzzy controller structure, namely PID type fuzzy controller. In order to improve further the performance of the transient state and the steady state of the PID type controller, we develop a method to tune the scaling factors of the PID type fuzzy controller on line. Simulation of the PID type fuzzy controller with the self-tuning scaling factors shows a better performance in the transient and steady state response. c 2000 Elsevier Science B.V. All rights reserved. Keywords: PID type fuzzy controller; Scaling factors; On line

1. Introduction The conventional fuzzy PID controller needs three inputs and the rule base has three dimensions, it is more di cult to design the rule-base. However, the fuzzy PID type controller has just two inputs and the rule-base is two dimensions. Its performance is also better than the fuzzy PI and fuzzy PD controller [7]. Fuzzy control design is composed of three important stages, namely, I. knowledge base design, II. control tuning parameters and III. membership functions. In order to make the fuzzy controller achieve the prospective target, we have to adjust these three stages of the fuzzy controller. But only the scaling factor adjustment can achieve the requisite of real time control. Therefore, if we want to apply the fuzzy control, the scaling factor of the fuzzy controller which can be self-adjusted is a necessary requirement.

The membership function reports are referred to as in [1 3,10,16] and methods with the tuning scaling factor are studied in [4 6,9,15]. Tuning the scaling factor of the fuzzy PID type controller is discussed in [11,12,14]. In this paper, by designing the membership functions and self-tuning scaling factors, we try to make the performance better.

2. PID type fuzzy controller structure Fuzzy PI type control is known to be more practical than fuzzy PD type, since it is di cult for the fuzzy PD to remove the steady state error. The fuzzy PI type control is, however, known to give poor performance in the transient response for higher order process due to the internal integration operation. To improve the performance of the fuzzy PI type and fuzzy PD type at the same time we want to design a fuzzy controller that processes the ne characteristics

Corresponding author.

0165-0114/00/$ - see front matter c 2000 Elsevier Science B.V. All rights reserved. PII: S 0 1 6 5 - 0 1 1 4 ( 9 8 ) 0 0 1 5 9 - 6

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Z.-W. Woo et al. / Fuzzy Sets and Systems 115 (2000) 321326 Table 1 A gereral fuzzy PID type rule base E=E PL PM PS ZR NS NM NL NL ZR ns nm nl nl nl nl NM ps ZR ns nm nl nl nl NS pm ps ZR ns nm nl nl ZR pl pm ps ZR ns nm nl PS pl pl pm ps ZR ns nm PM pl pl pl pm ps ZR ns PL pl pl pl pl pm ps ZR

Fig. 1. The PID type fuzzy control system.

Fig. 2. The MF of e; e and u.

of the PID controller only by using the error and the rate of change of error as its inputs [8]. A PID type fuzzy controller structure that simply connects the PD type and the PI type fuzzy controllers together in parallel is shown in Fig. 1. These rules are expressed as: If {e is ZR and e is ZR}, then {u is ZR}. The output of the PID type fuzzy controller is uc = u + u dt

Fig. 3. Comparison of the di erent in the system. = 1(::::::); = 1:6( ); = 2:8 ().

= (A + PKe e + DKd e) + (A + PKe e + DKd e) dt

= A + At + ( Ke P + Kd D)e + Ke P e dt + Kd De: (1)

Before presenting the simulation, we give a description of the simulation model. The plant model is a second-order and type 0 system with dead zone 0.2. G(s) = 1=(s + 1)(0:5s + 1); Ke = 1; kd = 0:25; = 0:2 = 1; 1:6; 2:8:

These equivalent control components are repeated as follows: Proportional: Ke P + kd D integral: ke P derivative: kd D The membership functions of error, change rate of the error and u are shown in Fig. 2. The fuzzy PID type control rule is shown in Table 1. It is just like the fuzzy PI type control rule base. The control output u can be determined from the method of the center of the gravity.

From the simulation and control components it can be seen that if we decrease the parameter gradually, the integral control component is decreased so that the damping of the system is increased and the system is more stable. Notice that the proportional component includes the term of the production of and kd . While decreasing the value of the proportional control component will decrease; thus the reaction of the control system against the error will be slowed down (Fig. 3).

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4. Adjusting the MF and self-tuning the scaling factors If we do not change the fuzzy rules and scaling factors, we can adjust the membership function (MF) to improve the steady state response of the performance. Just like the example, we adjust the MF of u. Making the m4 of MF be thinner and m3, m5 be near the center and thinner in Fig. 6. In the simulation results, we can see the steady state of the performance is improved in Fig. 7. From Fig. 7, we can nd that just changing the MF is hard to improve the transient state. Therefore we can use the same idea in the parameter adaptive method and dene the functions f(e(t)) and g(e(t)). f(e(t)) = a1 abs(e(t)) + a2; g(e(t)) = b1 (1 abs(e(t))) + b2: (2) (3)

Fig. 4. Di erent phases of the step response of a control system.

a1; a2; b1, and b2 are all positive constants. Then the self-tuning scaling factors changing with time are described follows: s (e(t)) = f(e(t)); kds (e(t)) = kd g(e(t));
Fig. 5. Block diagram of the parameter adaptive fuzzy controller.

(4) (5)

3. The parameter adaptive method This method and the simulations are shown in [13]. Fig. 4 shows the step response of a control system. The response process can be divided into different phases by the peak value times. The parameter regulator tunes the controller parameters kd and simultaneously at each peak time signal and according to the peak value at that time. The algorithm of tuning the scaling constants and the integral gain is as follows: kd = kds = k ; =
k

where and kd are the initial values of the scaling factors. The objective of the function f(e(t)) is to decrease the s (e(t)) with the change of error. In the other words, the error will be zero and f(e(t)) will eventually be equal to a2. However, the function g(e(t)) is the inverse objective, in the steady state, the g(e(t)) will be equal to (b1 + b2). So we can adjust the s (e(t)) and kds (e(t)) roughly with the error of the time. It also means that besides tuning Ke ; kd ; ; , we can add the a1, a2, b1, b2 parameters to expand the region of tuning parameter. The PID type fuzzy controller structure with the self-tuning scaling factors are shown in Fig. 8. To nd how a1, a2, b1, and b2 are very important, we can progress in the following way: In the beginning, e = 1: f(1) = a1 + a2; g(1) = b2: In the steady state, e = 0: f(0) = a2; g(0) = b1 + b2: (7) (6)

s ;

where kds and s are the initial value of kd and , respectively. k is the absolute peak value at the peak time tk (k = 1; 2; 3; : : :). Block diagram of the parameter adaptive fuzzy controller is shown in Fig. 5.

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Fig. 6. The change of the output MF u.

Fig. 7. The original MF ( ). The changed MF ().

We hope f(1) g(1) = f(0) g(0) to keep the proportional component ( Ke P + kd D) not to change much and the system can always react quickly against the error. One can also use another method to tune a1, a2, b1, b2 and may provide better performance. The simulation of the model is like Fig. 8, and the parameters are a1, a2, b1, b2 described as follows:
Fig. 8. The PID type fuzzy control system with function tuner.

a1 = 1:3;

a2 = 0:25;

b1 = 4:3;

b2 = 0:8:

So in the beginning, s (e(t)) is equal to (a1 + a2); in the steady state, it is equal to (a2). We can adjust a1 and a2 to tune the (a1 + a2) and (a2) to decide the initial value and the nal value of s (e(t)).

Some simulation results of the fuzzy control system with self-tuning scaling factors under di erent initial values of the scaling factors are shown in Figs. 911. Generally speaking, the simulation results demonstrate that the fuzzy controller with self-tuning scaling factors improves the performance.

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Fig. 9. (Ke ; kd ; ; ) = (1; 0:25; 0:2; 2). Normal fuzzy PID type: ( ); Self-tuning fuzzy PID type: ().

Fig. 11. (Ke ; kd ; ; ) = (1; 0:15; 0:2; 3).

the system response process time so as to increase the damping of the system when the system is about to settle down, meanwhile keeping the proportional control component not to change too much so as to guarantee quick reaction against the error. With the self-tuning fuzzy controller, the oscillation of the system is strongly restrained and the settling time is shortened greatly. We have presented the simulation results to demonstrate the ne performance of the proposed PID type fuzzy controller structure with self-tuning scaling factors. References
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Fig. 10. (Ke ; kd ; ; ) = (1; 0:25; 0:2; 3).

It can greatly reduce the oscillation and shorten the settling time of the system. 5. Conclusion To improve further the performance of the proposed PID type fuzzy controller, we designed a method of self-tuning scaling factors of fuzzy controller. The PID type fuzzy controller can be decomposed into the equivalent proportional control, integral control and the derivative control components. This method decreases the equivalent integral control component of the fuzzy controller gradually with

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Z.-W. Woo et al. / Fuzzy Sets and Systems 115 (2000) 321326 [13] W.Z. Qiao , M. Mizumoto, PID type fuzzy controller and parameters adaptive method, Fuzzy Sets and Systems 78 (1) (1996) 23 35. [14] P. Vega, C. Prada, V. Aleixander, Self-tuning predictive PID controller, IEE Proc. D 138 (3) (1991) 303 311. [15] C.C Wong, S.M. Feng, A switching type of fuzzy controller, IEEE Internat. Conf. on Fuzzy Systems 1994, pp. 30 34. [16] L. Zheng, A practical guide to tune of proportional and integral (PI) like fuzzy controllers, Proc. 1st IEEE Internat. Conf. on Fuzzy Systems, 1992, pp. 633 640.

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