Combined PID and LQR controller using optimized fuzzy rules

  • Reza Mohammadi Asl
  • Amir Mahdoudi
  • Elham Pourabdollah
  • Gregor Klančar
Methodologies and Application


In this paper, a combination of PID controller and linear quadratic regulator is proposed. A fuzzy switching module is applied to optimally fuse both controllers. A new adaptive version of charged system search algorithm optimizes the membership functions of the fuzzy module. By the time, the algorithm changes itself to find a proper solution faster. To show the efficiency of the designed intelligent controller, the results of a simulated unicycle robot under disturbances are presented.


Artificial intelligence Adaptive charged system search PID controller Linear quadratic regulator Fuzzy logic 


Compliance with ethical standards

Conflict of interest

All authors declare that they have no conflict of interest.

Human participants or animals rights statement

This article does not contain any studies with human participants or animals performed by any of the authors.


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Reza Mohammadi Asl
    • 1
  • Amir Mahdoudi
    • 1
  • Elham Pourabdollah
    • 2
  • Gregor Klančar
    • 3
  1. 1.Control Engineering Department, Faculty of Electrical and Computer EngineeringUniversity of TabrizTabrizIran
  2. 2.Information Technology Engineering Department, Faculty of Electrical and Computer EngineeringUniversity of TabrizTabrizIran
  3. 3.Faculty of Electrical EngineeringUniversity of LjubljanaLjubljanaSlovenia

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