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1、Automatica36(2000)673}684BriefPaperqParallelstructureandtuningofafuzzyPIDcontrollerJian-XinXu*,Chang-ChiehHang,ChenLiuDepartmentofElectricalEngineering,NationalUniversityofSingapore,10KentRidgeCrescent,Singapore119260,SingaporeReceived2December1997;revised12January1999;receiv
2、edin"nalform3September1999AbstractInthispaper,aparallelstructureoffuzzyPIDcontrolsystemsisproposed.Itisassociatedwithanewtuningmethodwhich,basedongainmarginandphasemarginspeci"cations,determinestheparametersofthefuzzyPIDcontroller.IncomparisonwithconventionalPIDcontrollers,th
3、eproposedfuzzyPIDcontrollershowshighercontrolgainswhensystemstatesareawayfromequilibriumand,atthesametime,retainsalowerpro"leofcontrolsignals.Consequently,bettercontrolperformanceisachieved.Withtheproposedformula,theweightingfactorsofafuzzylogiccontrollercanbesystematicallyse
4、lectedaccordingtotheplantundercontrol.Byvirtueofusingthesimpleststructureoffuzzylogiccontrol,thestabilityofthenonlinearcontrolsystemcanbeanalyzedandasu$cientBIBOstabilityconditionisgiven.Thesuperiorperformanceoftheproposedcontrollerisdemonstratedthroughanexperimentalexample.(
5、2000ElsevierScienceLtd.Allrightsreserved.Keywords:FuzzyPIDcontrol;PIDtuning;Gainandphasemargins;BIBOstability1.Introductionappropriatedesignmethodswhichwillassistthecon-trolengineerstocon"dentlyutilizethenonlinearityofInrecentyears,fuzzylogiccontrollers(FLC),espe-thefuzzyPIDc
6、ontrollerstoimprovetheclosed-loopciallyfuzzyproportional-integral-derivative(PID)con-performance.trollershavebeenwidelyusedforindustrialprocessesToful"lltheabovetarget,weneedtoanswertheowingtotheirheuristicnatureassociatedwithsimplicityfollowingthreefundamentalquestions:(1)wh
7、atistheande!ectivenessforbothlinearandnonlinearsystems.suitablestructureforfuzzyPIDcontrollers?(2)howtoInfact,forsingle-inputsingle-outputsystems,fuzzylogicsystematicallytunethefuzzyPIDcontrollerparameters?controllersareessentiallythefuzzyPDtype,fuzzyPIand(3)howtoanalyzeandev
8、aluatethedesignedfuzzytypeorfuzzyPIDtypeassociatedwithnonlineargains
