Proceedings of the 6th World Congress on Intelligent Control and Automation, June 21 - 23, 2006, Dalian, China

A Novel Nonlinear PID Controller Designed By Takagi-Sugeno Fuzzy Model*

Zhihong Xiu1,2, Wei Wang1
1)

Research Center of Information and Control Dalian University of Technology Dalian, Liaoning Province, China xzhdy@126.com

2)

Department of Command Control Dalian Naval Academy Dalian, Liaoning Province, China xzhdy@mail.dlptt.ln.cn

Abstract - TS-PID fuzzy controller is proposed as a novel framework for nonlinear PID controller design in this paper. The so-called TS-PID fuzzy controllers are a class of Tagagi-Sugeno (TS) fuzzy controllers whose rule consequences employ PID expressions. Based on Lyapunov theory, a design and stability analysis method of TS-PID fuzzy controllers is presented. This approach utilizes some analytical techniques of linear control theory to analyze and design a TS-PID fuzzy controller. The simulation results of a nonlinear mass-spring-damper system show that the performance of a TS-PID fuzzy controller is better than that of the conventional TS fuzzy controller. Index Terms - Fuzzy control, nonlinear PID controller, TSPID fuzzy controller, stability, analytical design.

I. INTRODUCTION Conventional proportional-integral-derivative (PID) controllers are widely used in industry process control, due to its simplicity in structure and ease of implementation [1]. However, since the controller parameters are fixed during control after they have been tuned or chosen in a certain optimal way, a conventional PID controller cannot always effectively control systems with changing parameters, and may need frequent on-line retuning. On the other hand, in recent years, fuzzy logical controllers (FLC), especially fuzzy PID controllers have been widely used for industrial processes owing to their heuristic nature associated with simplicity and effectiveness for both linear and nonlinear systems [2-9]. Because of the nonlinear property of control gains, fuzzy PID controllers possess the potential to improve and achieve better system performance over the conventional PID controller if the nonlinearity can be suitable utilized. Whereas, due to the existence of nonlinearity, it is usually difficult to conduct theoretical analyses to explain why fuzzy PID controllers can achieve better performance. Consequently, it is important, from both the theoretical and practical points of view, to explore the essential nonlinear control properties of fuzzy PID controllers and find out appropriate design methods which will assist the control engineers to confidently utilize the nonlinearity of the fuzzy PID controllers to improve the closed-loop performance. Many researchers recently attempted to combine conventional PID controllers with fuzzy control, some of them investigated to employ a Mamdani type fuzzy controller equivalent to a PID controller [2,3,4], others attempted to
*

employ a fuzzy expert system at supervisory controller level in a form of fuzzy rule-based readjusting the conventional PID gains [5,6]. Kazemian [7] investigated the application of a self-organizing fuzzy PID controller which is the extension of the rule-based fuzzy controller with an additional learning mechanism. Especially, Zhao [8] exploit the Mamdani type of fuzzy rules and reasoning to generate the parameters of PID controller. The main difficulty in using most of these existed types of fuzzy PID controllers is that the design approach requires ad hoc expertise, and there is a lack of analytical stability analysis and design method. In order to solve these problems, we propose a new type of fuzzy PID controllers, that is the so-called TS-PID fuzzy controllers, by combining the conventional PID controller with the Tagagi-Sugeno (TS) fuzzy model in this paper. A TS-PID fuzzy controller is composed of the conventional PID controllers in conjunction with a set of TS fuzzy rules (knowledge base) and a fuzzy reasoning mechanism. The PID gains are changing on-line in terms of the knowledge base and fuzzy inference. By virtue of the gain scheduling property, TS-PID fuzzy controllers can adapt themselves to varying environments. In this paper we present the design and stability analysis methods of TS-PID fuzzy controllers based on Lyapunov theory. This paper is organized as follows. Section II describes the model of TS-PID fuzzy controllers, and outlines its applications. In Section III, we present an analytical design and stability method of TS-PID fuzzy controllers based on Lyapunov theory. In Section IV, an example illustrates the particular design procedures of a TS-PID fuzzy controller applied to a nonlinear mass-spring-damper system. The conclusions are given in the last part of the paper. II. TS-PID FUZZY CONTROLLERS AND APPLICATIONS A. TS-PID Fuzzy Controller TS-PID fuzzy controllers we proposed in this paper are a class of TS fuzzy controllers whose rule consequences employ PID expressions. The rules of a TS-PID fuzzy controller take the form as: IF z1 is M 1i and and zp is M ip
i i THEN u i = K P  , i=1,2,,l e + K Ii edt + K D e

(1)

where l denotes the number of inference rules, z(t)=[z1, z2,, zp]T Rp denotes the premise variable vector

This work is partially supported by China Postdoctoral Science Foundation Grant 2005038255.

1-4244-0332-4/06/$20.00 2006 IEEE

3724

Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:29 from IEEE Xplore. Restrictions apply.

of TS-PID fuzzy controllers, M ij (i=1,2,, l) denote fuzzy sets of the premise variable zj, ui denotes the output of the ith local PID controller, i i , K Ii , K D represent the parameters of the ith local PID KP expression. By using a singleton fuzzifier, the product inference and a center-average defuzzifier, the global model of a TS-PID fuzzy controller can be obtained as follows:
u = wi ( z ) u i
i =1 l

w ( z ) = h ( z ){K
l l i i i =1 i =1

i P

i  e + K Ii edt + K D e

l l l i i i  = hi ( z ) K P e + hi ( z ) K I edt + hi ( z ) K D e i =1 i =1 i =1 * * (2)  = KP e + K I* edt + K D e

Case B: If the control plant is a linear or unknown dynamic system, as well as other systems, the premise variables of a TS-PID fuzzy controller can employ one or more of the error e, the derivative of e and the integral of e. In this case, a TS-PID fuzzy controller can be regarded as a selfadjusting PID controller, so that can achieve better performance than a conventional PID controller. If there are perfect manual control experiences, we can convert the manual control experience into the rules of TS-PID fuzzy controller in designing. If lack of perfect manual control experiences, we can design a TS-PID fuzzy controller by computer optimization, such as by Genetic Algorithms (GAs) [11]. In Section III, we mainly discuss the case A. III. STABILITY ANALYSIS AND DESIGN OF TS-PID FUZZY CONTROLLERS A. Stability Analysis of TS Fuzzy Control Systems If the consequences of a TS fuzzy model adopt state equations, its rules take the form as follows: IF z1 is M 1i and and zp is M ip THEN x  (t ) = Ai x (t ) + Biu (t ) , i=1,2,,l where l denotes the number of inference rules, M ij ( i=1,2,,l; j=1,2,, p) denote input fuzzy sets, (6)

where wi ( z ) = M ki ( zk (t )) is the firing strength of the ith

k =1 l

rule, h ( z ) = w ( z ) i i
l
* P

wi ( z ) , and
i =1

i , K = hi ( z) K P i =1 l

(3) (4) (5)

K I* = hi ( z ) K Ii ,
i =1 l i . K = hi ( z ) K D
* D

i =1

n x (t ) = [ x1 (t ), x2 (t ),..., xn (t )]T R denotes the state vector of

From (2) to (5), we can see that TS-PID fuzzy controllers are a kind of nonlinear PID controllers in essence, and the PID parameters are varying with the premise variable z. TS-PID fuzzy controllers may take the advantages of both fuzzy controllers and PID controllers, through converting the PID parameters tuning experiences into TS fuzzy reasoning rules. B. Applications of TS-PID Fuzzy Controllers Eq. (1) is the general form of TS-PID fuzzy controllers. According to the practical instance, the premise variables of a TS-PID fuzzy controller may take various forms, hence the design methods of which are different. There are two cases of applications of TS-PID fuzzy controllers in common used: Case A: If the control plant is a nonlinear or modelvarying dynamic system, the system dynamics can be captured into a set of TS fuzzy implications which characterize local relations in the premise state space. The premise variables of the rule base can employ the nonlinear variables or the varying parameters of the system. The TS fuzzy modeling method of a plant can be found in [10]. Then, a TS-PID fuzzy controller can be designed to control this plant. If a TS-PID fuzzy controller employ same premise variables and share the same fuzzy sets with the TS fuzzy model in the premise parts, the corresponding local PID controller for each linear subsystem of TS fuzzy plant model can be designed by using the linear control theory, and the global model of a TS-PID fuzzy controller can be obtained by composing these local PID controllers together according to (2). In this case, a TS-PID fuzzy controller can be regarded as an adaptive PID controller.

the system, u(t) denotes the control input, z(t)=[z1, z2,, zp]T Rp denotes premise variable vector of the fuzzy system, Ai , Bi represent the ith local model parameters of the fuzzy system, and are of appropriate dimension. By using a singleton fuzzifier, the product inference and a center-average defuzzifier, the following global dynamic model can be obtained:
 (t ) = hi ( z){Ai x (t ) + Biu (t )} x
i =1 p l

(7)

where wi ( z ) = M ki ( zk (t )) is the firing strength of the ith

k =1

rule, and h ( z ) = w ( z ) i i

w (z) .
i i =1

When u(t)=0, the fuzzy system (7) becomes an input-free system:

 (t ) = hi ( z ) Ai x (t ) x
i =1 l

(8)

Based on the Lyapunov direct method, Tanaka et al. [12,13] studied the stability problem of an input-free TS fuzzy systems and a theorem was obtained as follows: Theorem 1: The equilibrium of (8) is asymptotically stable in the large if there exists a common positive-definite matrix P such that (9) A T P + PA < 0 , for i=1,2,,l, that is, for all the subsystems.

3725
Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:29 from IEEE Xplore. Restrictions apply.

In practical applications, some system dynamics are captured by a set of TS fuzzy implications described by (6) which characterize local relations in the state space. The corresponding TS fuzzy controller can be designed via parallel distributed compensation (PDC) [13,14]. In the PDC concept, each control rule is distributively designed for the corresponding rule of a TS fuzzy model. The TS fuzzy controller shares the same fuzzy sets with the fuzzy model in the premises. For (6), let Ki denotes the state feedback gain of the ith local model, the local control laws of a TS fuzzy state feedback controller are as follows: IF z1 is M 1i and and zp is M ip THEN u= Ki x, i=1,2,,l. (10) The global model of a TS fuzzy controller can be inferred as follows:
u = hi K i x .
i =1 l

SFP inputs, and proposed a new approach to analyze the stability of TS fuzzy systems in our previous works [15]. This approach only requires finding a common positive-definite symmetric matrix in each maximal overlapped-rules group (MORG), can reduce the conservatism and difficulty of the former stability analysis approaches when the number of rules of a fuzzy control system is large. B. Design and Stability analysis of TS-PID fuzzy controllers If the control plant is a nonlinear or model-varying system, and the system dynamics are captured by a set of TS fuzzy implications, linear control theory can be used to design the local PID controller of each subsystem of the TS model because the consequences of TS fuzzy models are described by linear equations. Using the method of PDC, each PID expressions of a TS-PID fuzzy controller which shares the same fuzzy sets with the fuzzy model in the premise parts can be obtained, then we can analytically design a TS-PID fuzzy controller. In order to analyze the stability of the close-loop system, we can convert the consequences of TS fuzzy model of the plant and the TS-PID fuzzy controller to state equations. Then the close-loop system described by (13) or (14) can be obtained by composing the TS-PID fuzzy controller and the plant. We can use the method of linear matrix inequalities (LMI) [14] to find the common positive-definite symmetric matrix P satisfying the conditions of Theorem 1 or Theorem 2. If this P is found, we can conclude that the close-loop system consisted of the plant and the TS-PID fuzzy controller is asymptotically stable in the large. Otherwise, we need to redesign the local PID controller of each subsystem of the TS model till the conditions of Theorem 1 or Theorem 2 are satisfied. IV. A DESIGN EXAMPLE OF TS-PID FUZZY CONTROLLERS To illustrate the design and stability analysis methods of TS-PID fuzzy controllers proposed in Section III, we take the nonlinear mass-spring-damper system described in [16] as an example to design a TS-PID fuzzy controller. The nonlinear mass-spring-damper system [16] can be described as follows: (15)  + g ( x, x  ) + f ( x) = ( x  )u , M x where M is the mass, x is the position of the mass, u is the force, and g ( x, x  ), f ( x), ( x  ) are nonlinear terms pertaining to the spring, the damper, and the input, respectively. Assume that in the range x[1.5,1.5], x  [1.5,1.5], the nonlinearities are modeled as g ( x, x  ) = 0.01x + 0.1x  3 , f ( x) = 0.01x + 0.67 x 3 , ) = 1 . (x The resulting dynamical system can be rewritten as (16)   = 0.1x  3 0.02 x 0.67 x 3 + u . x The nonlinear system (16) can be represented by the following TS fuzzy model

(11)

If a TS fuzzy system (6) is with the common input matrix B, that is, B1=B2==Bl=B, the global closed-loop fuzzy control system described by (7) and (11) is as follows:
 = hi ( Ai BK i ) x . x
i =1 l

(12)

Let Gi=AiBKi, from (12) we have

 = hi G i x . x
i =1 l

(13)

(13) has the same form as the input-free system model described by (8), so we can utilize Theorem 1 to check the stability of this class of closed-loop TS fuzzy control systems in the design process. If a TS fuzzy system (6) whose input matrices B1,B2,,Bl are not all the same, the global closed-loop fuzzy control system described by (7) and (11) is as follows:
 = hi h j ( Ai Bi K j ) x . x
i =1 j =1 l l

(14)

We cannot directly utilize Theorem 1 to check the stability of this class of closed-loop TS fuzzy control systems. Therefore, based on Theorem 2 and Theorem 3 in [13], a stability analysis method of the closed-loop TS fuzzy systems was proposed in [14] as follows. Theorem 2: The equilibrium of a fuzzy control system (14) is asymptotically stable in the large if there exists a common positive-definite symmetric matrix P such that the following condition (C1) or (C2) is satisfied: T (C1): Gij P + P Gij < 0 , i=1,2,,l, j=1,2,,l
T (C2): G ii P + PG ii < 0 , i=1,2,,l, and

Gij + G ji Gij + G ji , i<j P + P <0 2 2 where Gij=AiBiKj. Remark: If premise variables of a TS fuzzy control system adopt the standard fuzzy partitions (SFP), we further investigated the properties of TS fuzzy control systems with

3726
Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:29 from IEEE Xplore. Restrictions apply.

1 1 IF z1 is M 1 and z2 is M 2 THEN   = 0.02 x + u x 1 IF z1 is M 1 and z2 is M 22 THEN   = 0.225 x  0.02 x + u x (17) 1 2 IF z1 is M 1 and z2 is M 2 THEN   = 1.5275 x + u x 2 IF z1 is M 1 and z2 is M 22 THEN   = 0.225 x  1.5275 x + u x Where z1 = x , z 2 = x  , the membership functions of their fuzzy sets are obtained as follows [16]: z2 z2 M 11 ( z1 ) = 1 1 , M 12 ( z1 ) = 1 , 2.25 2.25 2 z z2 1 2 (z2 ) = 1 2 , M 2 (z2 ) = 2 . M2 2.25 2.25 Fig. 1 and Fig. 2 show the fuzzy sets in the premise parts.

M 11

M 12
z1 Fig.1. The membership functions of z1
1 M2

0.225 1 , B=[0, 1]T. A1 = 1.5275 0 If r(t)=0, then e(t)=x(t). The TS-PID fuzzy controller (18) can be rewritten in the form of a fuzzy state feedback controller as follows: 1 1 and z2 is M 2 THEN u 1 = K 1 x IF z1 is M 1 1 IF z1 is M 1 and z2 is M 22 THEN u 2 = K 2 x (20) 1 IF z1 is M 12 and z2 is M 2 THEN u 3 = K 3 x

1 1 and z2 is M 2 IF z1 is M 1 1 THEN u = 3.98e + 4.0e  2 1 IF z1 is M 1 and z2 is M 2 (18) THEN u 2 = 3.98e + 6.775e  1 2 IF z1 is M 1 and z2 is M 2 THEN u 3 = 5.4725e + 3.0e  IF z1 is M 12 and z2 is M 22 THEN u 4 = 5.4725e + 2.775e  where e(t)=r(t)x(t), r(t) is the set position of the mass. We can verify the stability of the system by using the Lyapunov approach presented in Section III. The TS fuzzy model (17) can be rewritten by introducing matrix representation as follows: 1 1 and z2 is M 2 THEN x IF z1 is M 1  = A1 x + Bu 2 1 IF z1 is M 1 and z2 is M 2 THEN x  = A2 x + Bu (19) 1 2 IF z1 is M 1 and z2 is M 2 THEN x  = A3 x + Bu IF z1 is M 12 and z2 is M 22 THEN x  = A4 x + Bu where x=[x1, x2]T, x1= z1=x, x2= z2= x , 1 , 1 , 0.225 1 , 0 0 A1 = A2 = A3 = 0.02 0 0.02 0 1.5275 0

M 22
z2 Fig.2. The membership functions of z2

From (17), we can see that the four linear subsystems are all second-order plants. According to the linear system theory [17], we know that it can achieve a satisfying performance to apply the PD type controller to a second-order plant. By some experiences of tuning PID gains, we can select different PID gains in the deferent subsystems to achieve a better performance. For example, we can increase the proportional gain KP if the error is large (such as in the third and the fourth subsystems) to improve the rise time, and increase the derivative KD to reduce the overshoot if the error is little but the derivative of error is large (such as in second subsystem). Finally, we design the rules of a TS-PID fuzzy controller for the mass-spring-damper system as follows:

IF z1 is M 12 and z2 is M 22 THEN u 4 = K 4 x where the state feedback gain Ki of the linear subsystems can be derived from (18) as follows: K1 =[3.98, 4.0], K2 =[3.98, 6.775], K3=[5.4725, 3.0], K4 =[5.4725, 2.775]. Since all the linear subsystems have the same input matrix B, the closed-loop state matrices of these subsystems can be derived from Gi=AiBKi as follows: 1 , 1 , 0 0.225 G1 = G2 = 6.775 4 4 4
1 , 1 . 0 0.225 G3 = G4 = 7 7 3 2 .775 We can conclude that the close-loop fuzzy control system of the mass-spring-damper system is stable by Theorem 1, for we have found a common positive-definite symmetric matrix satisfying the condition of Theorem 1 via the LMI approach as follows: 1.2303 0.087 . P = 0.087 1.575 We simulated the mass-spring-damper system (16) controlled by TS-PID fuzzy controller (18) using various

3727
Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:29 from IEEE Xplore. Restrictions apply.

initial conditions. The simulation results show that this system is stable under all initial conditions. The output response of this system may be compared with that obtained from a TS fuzzy state feedback controller designed by Tanaka et al. [16]. The output responses of the system under the same initial conditions x(0) = 1 , x  (0) = 1 are plotted in Fig. 3 and Fig. 4. It is obvious that the responses of mass-spring-damper system controlled by TS-PID fuzzy controller are much better than that controlled by the TS state feedback controller designed in [16].

of linear control theory to analyze and design a TS-PID fuzzy controller. An example illustrates the particular procedures of design of TS-PID fuzzy controllers applied to a nonlinear plant. The simulation results show that the performance of a TS-PID fuzzy controller is better than that of the conventional TS fuzzy controller. Owing to their simple structures and good control performances, TS-PID fuzzy controllers proposed in this paper can be widely used in other control processes. REFERENCES
[1] G. Chen, Conventional and fuzzy PID controllers: an overview, Intelligent Control & Systems, vol.1, pp.235-246, 1996. [2] B. G. Hu, G. K. I. Mann, R. G. Gosine, New metholds for analytical and optimal design of fuzzy PID controllers, IEEE Trans. Fuzzy System, vol.7, no.5, pp. 521-539, 1999. [3] J. X. Xu, C. C. Hang, C. Liu, Parallel structure and tuning of a fuzzy PID controller, Automatica, vol.36, no.5, pp. 673-684, 2000. [4] G. K. I. Mann, B. G. Hu, R. G. Gosine, Two-level tuning of fuzzy PID controllers, IEEE Trans. Systems Man and Cybernetics, Part B, vol. 31, no. 2, pp. 263-269, 2001. [5] F. Karry, W. Gueaieb, S. Al-Sharhan, The hierarchical expert tuning of PID controllers using tools of soft computing, IEEE Trans. Systems Man and Cybernetics, Part B, vol. 32, no. 1, pp. 72-89, 2002. [6] K. M. Passino, Intelligent control for autonomous systems, IEEE Spectrum, pp.55-62, June 1995. [7] H. B. Kazemian, The SOF-PID Controller for the control of a MIMO robot arm, IEEE Trans. Fuzzy Systems, vol. 10, no. 4, pp. 523-532, 2002. [8] Z. Y. Zhao, M. Tomizuka, S. Isaka, Fuzzy gain scheduling of PID controllers, IEEE Trans. Systems Man and Cybernetics, vol. 23, no. 5, pp. 1392-1398, 1993. [9] W. Li, X. G. Chang, J. Farrell, F. M. Wahl, Design of an enhanced hybrid fuzzy P+ID controller for a mechanical manipulator, IEEE Trans. Systems Man and Cybernetics, Part B, vol. 31, no. 6, pp. 938-945, 2001. [10]T. Takagi, M. Sugeno, Fuzzy identification of systems and applications to modeling and control, IEEE Trans. Systems Man and Cybernetics, vol. 15, pp. 116-132, 1985. [11]A. Homaifar, E. McCormick. Simultaneous design of membership functions and rule sets for fuzzy controllers using Genetic Algorithms, IEEE Trans. Fuzzy Systems, vol. 3, no. 2, pp. 129-139, 1995. [12]K. Tanaka, M. Sugeno, Stability analysis and design of fuzzy control systems, Fuzzy Sets and Systems, vol. 45, no. 2, pp.135-156, 1992. [13]H. O. Wang, K. Tanaka, M. F. Griffin, An approach to fuzzy control of nonlinear systems: Stability and design issues, IEEE Trans. Fuzzy Systems, vol. 4, no. 1, pp. 14-23, 1996. [14]J. Park, J. Kim, D. Park, LMI-based design of stabilizing fuzzy controllers for nonlinear systems described by Takagi-Sugeno fuzzy model, Fuzzy Sets and Systems, vol. 122, pp. 73-82, 2001. [15]Z. H. Xiu, G. Ren, Stability analysis and systematic design of TakagiSugeno fuzzy control systems, Fuzzy Sets and Systems, vol. 151, no.1 pp. 119-138, 2005. [16]K. Tanaka, T. Ikeda, H. O. Wang, Robust stabilization of a class of uncertain nonlinear systems via fuzzy control: quadratic stability, H control theory and linear matrix inequalities, IEEE Trans. Fuzzy Systems, vol.4, no.1, pp.1-13, 1996. [17]J. J. Dazzo, C. H. Houpis, Linear Control System Analysis and DesignConventional and Modern, Fourth Edition, The McGraw-Hill Companies, Inc. 1995.

Fig. 3. Output response x of the mass-spring-damper system controlled by the TS-PID fuzzy controller (solid line) and the TS state feedback controller [16] (broken line)

Fig. 5. Output response x  of the mass-spring-damper system controlled by the TS-PID fuzzy controller (solid line) and the TS state feedback controller [16] (broken line)

V. CONCLUSION The TS-PID fuzzy controller is a novel framework for nonlinear PID controller design. Comparing with a conventional PID controller, TS-PID fuzzy controllers possess the potential ability to achieve better system performance if the nonlinearity can be suitable utilized. This paper presents the stability analysis and design approaches to TS-PID fuzzy controllers. Based on the Lyapunov theory, we present a design and stability analysis method of TS-PID fuzzy controllers. This approach utilizes some analytical techniques

3728
Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:29 from IEEE Xplore. Restrictions apply.