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IEEE TRAN S.ACTION 5 ON SY STEIi S, MAN , AND CYB ERN ETIC S. Y OL . 2 3, HO . 5.

SEPTEMBER /OCTOBER 1993

Fuzzy Gain Scheduling of PID Controllers


Zhefl-Yu Zhao, Member, IEEE, Masayoshi Tomizuka , Member, IEEE, and Satoru Isaka, Member, IEEE

Abs/ricf This paper describes the development of a fuzzy trol actions. Although they do not have an apparent struc-
gain scheduling scheme of PID controllers for process control. ture of PID controllers, fuzzy logic controllers may be
Fuzzy rules and reasoning are utilized on-line to determine the
cintro1ler parameters based on the errnr signul and its first
considered nonlinear PID controllcrs whose parameters
difference. Simulation results demonstrate that better control can be determined online based on the error signal and
ie ro e a be sieved in comparison with Ziegler their time derivative or difference.
Nichols controllers and Kitamoris PID controllers. In this paper, a rule-based scheme for gain scheduling
of PID controllers is proposed lor process control. The
new schcme utilizes fuzzy rules and reasoning to deter-
mine the controller parameters, and the PID controller
HE BEST-KNOWN controllers used in industrial generates the control signal. It is demonstrated in this pu
processes are proportional-integral-derivative per that human expertise on PID gain scheduling can be
(PID) controllers because of their simple structure and ro- represented in fuzzy rules. Furthermore, better control
bust performance in a wide range of operating conditions. performance can be expected in the proposed method than
The design of such a controller requires specification of that of the PID controllers with fixcd parameters.
three parameters: proportional gain, integral time con-
stant, and derivative time constant. So far, great effort has II. PID CONTROLLER
been devoted to develop methods to reduce the time spent
on optimizing the choice of controller parameters [8], The transfer function of a PID controller has the fol-
(15] . The PID controllers in the literature can be divided lowing form:
into two main categories. In the first category, the con-
troller parameters arc fixed during control after they have where Kp, K and K d are the proportional, integral, and
been tuned or chosen in a certain optimal way. The derivativc gains, respectively. Another useful equivalent
ZieglerNichols tuning formula is perhaps the most well- form of the PID controller is
known tuning method [5], [ 19]. Some other methods exist
for the PID tuning (see e.g. , [1], [6], [7]). The PID con-
trollers of this category are simple, but can not always ef where T, Kp / K, and Tq Kz / Kp. T, and Td are known
fectively control systems with changing parameters, and as the integral and derivative time constants, respectively.
may nccd frequent on-line rctuning. Thc controllers of the The discrete-time equivalent expression for PID control
second category have a structure similar to PID control used in this paper is given as
lers, but their parameters are adapted on-line based on
parameter estimation, which requires certain knowledge
of the process, e.g. , the structure of the plant model [2],
[I 7] . Such controllers are called adaptive PID controllers
in order to differentiate them from those of the first cate- Here. u (/:j is the control signal, e t k) is the crror bctween
thc reference and the process output, T, is the sampling
8W -
The application of knowledgebased sy sterns in process period for the controller, and A e (k) e( k ) e (k 1).
control is growing, especially in the field of fuzzy control The parameters of the PID controller Kp, K,, and Kz or
[9], [10], [12][14] . In fuzzy control, linguistic descrip- Kp , T,, and T, can be manipulated to produce various re-
tions of human expertise in controlling a process arc rep- sponse curves from a given process. Finding optimum ad-
resented as fuzzy rules or relations. This knowledge base justments of a controller for a given process is not trivial.
is used by an inference mechanism, in conjunction with In the following section, an online gain scheduling
some knowledge of the states of the process (say, of scheme of the PID controller based on fuzzy rules is in-
measured response variables) in order to determine con- troduced.

Manusc ript received April 10, 1992; rev ised October 3 , 1992
Z, -Y. Zhao was with the Department of Mechanical Engineering, Un i
versity of California at Berkeley, Berkeley, CA 94720, antl is currently Fig. I shows the PID control system with a fuzzy gain
with Omron Advanced Systems, Inc. , in Santa Clara , CA . scheduler. The approach taken here is to exploit fuzzy
Ivl , Tomizuka is with the Department of Meehan ical Engineering, U ni -
versity of California at Berkeley. Berkeley, CA 94720,
rules and reasoning to generate controller parameters.
S. Isaka is with Omron Advanced Systems, I nc . , Santa Clara. CA 95054. It is assumed that K , K, care in prescribed ranges
lLEE Log Number 920968 I . (Kp z , Kp q ] and [Kz z , , Kp q, ) . respectively. The ap-
O0I H-9472'93$O3 00 . 1993 IEEE
ZHAO ei /. : F U Z Z Y GAIN SCHED U LI NG OF PI D CO NT R OL L E R S 1393

Fuzzy rules
and reasoning NB NM PS PM PB

PID controller Procns


x=e(k) or ae(k)
Fig. 2. Membe rship functions to r e lb) and Ae (k .
Fig. 1. PID control sjstem with a fuzzy gain schcdu Jcr.

propriate ranges are determined experimentally and will


be given in equation ( 12). For convenience, K, and Kz are
normalized into the range between zero and one by the
following linear transformation:

In the proposed schcme, PID parameters are dctermined


based on the current error e (k) and its first difference
A e (/). The integral time constant is determined with ref-
erence to the derivative time constant, i . e. ,
Fig . 3. Membership functions for K ] and K[,
(4)
and the integral gain is thus obtained by
K, K,](aT J) K,/(aKz ). (5)

The parameters K[, K'z. and o are determined by a set of


fuzzy rules of the form

if e(I) is A, and be[k) is ?I then K pis C K z is O


and n = n,

Here, A,, B; , C;, and D; are fuzzy sets on the correspond


ing supporting sets; n, is a ccinstant. The iiiembership
functions (MF) of these fuzzy sets for e ( l ) and A e [k) are TIM E

shown in Fig. 2. In this figure, N represents ncgativc, P Fig. 4, Process step response.
positivc, ZO approximatel j' zero, 5 small, M medium, B
big. Thus NM stands for negative-medium, PB for posi-
tive big, and so on. ample fat a desired time response. At the beginning, i. e. ,
The fuzzy sets C, and D, may be either Big or Small around a , we need a big control signal in order to achieve
and are characterized by the membership functions shown a fasr rise time. To produce a big control signal, the PID
in Fig. 3, where the grade of the membership functions y cintro1ler should have a large proportional gain, a large
and the variable a ( = K oI K'j ) have the following rela- integral gain, and a small derivative gain. Thus the pro-
tion: portional gain (K ) can be represented by a fuzzy set Big,
and the derivative gain K[ by a fuzzy set Small. The in-
tegral action is determined with reference to the derivative
action as in (4). For the PID controller, taking a small n
for Smull, or a small integral time constant T, will result in a strong
integral action. Whether the integral action should be
strong or weak is determined in the scheme by compari
= l e "" for Big. (7) son with the well-known ZieglerNichols PID tuning rule.
In the ZieglerNichols rule, the intcgral time constant T,
The fuzzy rules in (6) may be extracted from operators is always taken four times as large as the derivative time
expertise. Here we drive the rules experimentally based constant. That is, n is equal to 4. In the proposed scheme,
on the step response o1 the process. Fig. 4 shtJ ws an ex o takes a value less than 4 (say 2) to generate a stronger
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