Autotuning of a Fuzzy PID Controller Based on Fuzzy Gain and Phase Margins: Analysis and Design

  • Otacílio da Mota Almeida
  • Antonio Augusto Rodrigues Coelho
  • Leandro dos Santos Coelho


In this paper a new method for autotuning thePID controller gains based on fuzzy rules is proposed and a new rule base for gain and phase margins is derived. The proposed control scheme offers advantages over the conventional fuzzy PID controller (FPID) such as: i) it is necessary only one rule base; ii) it may be completely autotuned, requiring only one relay feedback experiment; and iii) it shows stability and the robustness characteristic is conceptually simple. The fuzzy PID control algorithm has been successfully applied to simulation and practical examples. The application of the describing function for the stability and design of FPID control system is investigated.


Membership Function Fuzzy Rule Fuzzy Controller Propose Control Scheme Phase Margin 
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Copyright information

© Springer-Verlag London 2002

Authors and Affiliations

  • Otacílio da Mota Almeida
    • 1
  • Antonio Augusto Rodrigues Coelho
    • 1
  • Leandro dos Santos Coelho
    • 2
  1. 1.Department of Automation and SystemsFederal University of Santa CatarinaFlorianópolisBrazil
  2. 2.LAS/CCET/PUCPR Rua Imaculada ConceiçãoPontificia Universidade Católica do ParanáCuritibaBrazil

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