Contents

Introduction ............................................................................ 2
2. Problem description ............................................................ 2
3. System model ..................................................................... 3
1. Proportional Integral Differential (PID) Controller: ........ 3
2 Fuzzy Logic Controller (FLC): ......................................... 4
4. Intelligent control principle and design procedure .............. 5
5. Simulation results and analysis ........................................... 6
6. Conclusion ........................................................................ 10
Comparison ........................................................................ 10
Introduction

A proportional–integral–derivative controller (PID controller) is a control loop feedback

mechanism (controller) commonly used in industrial control systems. A PID controller
continuously calculates an error value as the difference between a measured process variable and
a desired setpoint. The controller attempts to minimize the error over time by adjustment of a
control variable, such as the position of a control valve, a damper, or the power supplied to a
heating element, to a new value determined by a weighted sum:

where K_p, K_i, and K_d, all non-negative, denote the coefficients for the proportional, integral,
and derivative terms, respectively (sometimes denoted P, I, and D). In this model,
 P accounts for present values of the error (e.g. if the error is large and positive, the
control variable will be large and negative),
 I accounts for past values of the error (e.g. if the output is not sufficient to reduce
the size of the error, the control variable will accumulate over time, causing the
controller to apply a stronger action)
 D accounts for possible future values of the error, based on its current rate of
change.
As a PID controller relies only on the measured process variable, not on knowledge of the
underlying process, it is broadly applicable. By tuning the three parameters of the model, a PID
controller can deal with specific process requirements. The response of the controller can be
described in terms of its responsiveness to an error, the degree to which the system overshoots a
setpoint, and the degree of any system oscillation. The use of the PID algorithm does not
guarantee optimal control of the system or even its stability.
Some applications may require using only one or two terms to provide the appropriate
system control. This is achieved by setting the other parameters to zero. A PID controller will be
called a PI, PD, P or I controller in the absence of the respective control actions. PI controllers
are fairly common, since derivative action is sensitive to measurement noise, whereas the
absence of an integral term may prevent the system from reaching its target value.

A fuzzy control system is a control system based on fuzzy logic—a mathematical system
that analyzes analog input values in terms of logical variables that take on continuous values
between 0 and 1, in contrast to classical or digital logic, which operates on discrete values of
either 1 or 0 (true or false, respectively).
Fuzzy logic is widely used in machine control. The term "fuzzy" refers to the fact that the
logic involved can deal with concepts that cannot be expressed as the "true" or "false" but
rather as "partially true". Although alternative approaches such as genetic algorithms and
neural networks can perform just as well as fuzzy logic in many cases, fuzzy logic has the
advantage that the solution to the problem can be cast in terms that human operators can
understand, so that their experience can be used in the design of the controller. This makes it
easier to mechanize tasks that are already successfully performed by humans.

2. Problem description

In this task we have to implement three transfer functions which are given below:
 20
i. 𝐺1 𝑠 =
(2𝑠+1)(4𝑠+1)
20𝑒 −0.5𝑠
ii. 𝐺2 𝑠 =
(2𝑠+1)(4𝑠+1)
20𝑒 0.5𝑠
iii. 𝐺3 𝑠 =
2𝑠+1 4𝑠+1 (2.2𝑠+1)

We have to design the PID and Fuzzy controller to stable for these three time varying transfer
function and also compare their performance. In last give some conclusion.

3. System model

1. Proportional Integral Differential (PID) Controller:

Many industrial controllers employ a proportional, integral plus differential PID regulator
arrangement that can be tailored to optimize a particular control system. The PID controller can be
used in most control loops in an electrical drive. There are reasons to take a closer look at this
controller. It is available both in analogue and digital forms. The control action in a PID
controller combines proportional, integral and derivative control modes as shown in Fig. (1).

Proportional
e (t) Error signal
Integral + Process
Summing u (t)
Differential

Fig. (1): Proportional, Integral plus Differential Arrangement

Controller.
The proportional, integral, differential PID controller output equation is given as:
de(t )
u (t )  K p .e(t )  K i  e(t ).dt  K d (1)
dt
The control signal is proportional to the error signal and the proportional gain Kp. A
proportional controller will have the effect of reducing the rise time and will reduce, but never
eliminate. If an integrator is added, the control signal is proportional to the integral of error and
the integral gain Ki. Integral control will have the effect of reduced the error, in principle, to zero
value. The in principle must be added, because there are always limits on accuracy in any system.
Derivative control is used to anticipate the future behavior of the error signal by using corrective
actions based on the rate of change in the error signal. The control signal is proportional to the
derivative of the error and Kd is the derivative gain. Derivative control will have the effect of
increasing the stability of the system, reducing the overshoot, and improving the transient
response. Derivative control action can never be used alone because this control action is
effective only during transient periods. The PID controller makes a control loop respond faster
with less overshoot and most popular method of control by a great margin. The combined action
has the advantages of each of the three individual control actions [Kaho, 2006].
2 Fuzzy Logic Controller (FLC):

In recent years, fuzzy control has emerged as a practical alternative to classical control
schemes when one is interested in controlling certain time varying, non-linear, and ill-defined
processes. There have in fact been several successful commercial and industrial applications of
fuzzy control. Fuzzy controllers are used to control consumer products, such as washing
machines, video cameras, and rice cookers, as well as industrial processes, such as cement kilns,
underground trains, and robots. Fuzzy control is a control method based on fuzzy logic. Fuzzy
logic can be described simply as computing with words rather than numbers; fuzzy control can
be described simply as control with sentences rather than equations. A fuzzy controller can
include empirical rules, and that is especially useful in operator controlled plants [Shepherd, 1998].
Fuzzy logic controller (FLC) is capable of improving its performance in the control of a
nonlinear system whose dynamics are unknown or uncertain. The fuzzy controller takes input
values from the real world. A set of rules that emulates the decision making process of the human
expert controlling the system is then applied using certain inference mechanisms to determine the
output. Finally, the output is mapped into crisp control actions required in practical applications
in the de-fuzzification step in a fuzzy controller the data passes through a pre-processing block, a
controller, and a post-processing block. Pre-processing consists of a linear or non-linear scaling.
linguistic variables are central to fuzzy logic manipulations. They are non-precise variables that
often convey a surprising amount of information. Usually, linguistic variables hold values that
are uniformly distributed (µ) between 0 and 1, depending on the relevance of a context
dependent linguistic term [Sivanandam and Deepa, 2007].
The collection of rules is called a rules base and the rules are in the familiar if-then
format, and formally the if-side is called the condition and the then-side is called the conclusion.
The computer is able to execute the rules and compute a control signal depending on the
measured inputs error and change in error.. The process of fuzzy inference involves membership
functions, fuzzy logic operators, and if-then rules. There are two types of fuzzy inference systems
that can be implemented in the fuzzy logic toolbox which are Mamdani-type and Sugeno-type.
The basic structure of a F.L.C as illustrated in Fig. (2) below, consists of the following
components [Ahmed, 2007]:-
1-Fuzzification, which converts controller inputs into information that the inference
mechanism can easily uses to activate and apply rules.
2-Rule-Base, (a set of If-Then rules), which contains a fuzzy logic quantification of the
expert’s linguistic description of how to achieve good control.
3-Inference Mechanism, (also called an ―inference engine‖ or ―fuzzy inference‖ module),
which emulates the expert’s decision making in interpreting and applying knowledge about
how best to control the system
4-Defuzzification Interface, which converts the conclusions of the inference mechanism into
actual inputs for the process.
Inference Mechanism and Rule - Base

Rotated
RULE 1 α1
Speed, ωr RULE 2 α2
Desired
Process Firing
RULE 3 α3 Angle
Armature
Current, Ia RULE N αn

Fuzzification Deffuzzification

Fig. (2): Illustrates Fuzzy Logic Algorithm [Vas, and Stronach, 1996 ] .
4. Intelligent control principle and design procedure

This section presents stable PID and fuzzy controller designs for different transfer functions.
Figure 3 shows the PID controller for the transfer function. This block diagram consist of PID
module, step function, Band limited white Gaussian noise, transfer function and scope for
display.

Figure 3. PID Architecture in Simulink

In the next figure 4 display the Fuzzy system configuration, which contain Step signal, Fuzzy
logic controller Band limited white Gaussian noise, transfer function and
scope for output.

Figure 4. Fuzzy system Architecture in Simulink

5. Simulation results and analysis

In this section, I first make comparison of 𝐺1 𝑠 , 𝐺2 𝑠 and 𝐺3 𝑠 with the reference signal
and last one all the comparison to the reference signal. I note that our output track the
reference signal. If we increase the noise power of the white Gaussian noise. Our signal is
disturbed too much and takes some time to track the reference signal.

Figure 5 Comparison of 𝐺1 𝑠 with reference signal

Figure 6 Comparison of 𝐺2 𝑠 with reference signal

 Figure 7 Comparison of 𝐺3 𝑠 with reference signal

Figure 8 Comparison of 𝐺1 𝑠 , 𝐺2 𝑠 , 𝐺3 𝑠 with reference signal

Now we implement above Three Transfer function using the Fuzzy Logic and display their
results.
Figure 9 Comparison of 𝐺1 𝑠 with reference signal (Fuzzy System)

Figure 10 Comparison of 𝐺2 𝑠 with reference signal (Fuzzy System)

 Figure 11 Comparison of 𝐺3 𝑠 with reference signal (Fuzzy System)

Figure 12 Comparison of 𝐺1 𝑠 , 𝐺2 𝑠 , 𝐺3 𝑠 with reference signal (Fuzzy System)

6. Conclusion
Comparison

1. Fuzzy controllers have the advantage that can deal with nonlinear systems and use the
human operator knowledge. Here we tested it with a linear system of second order
with known parameters.
2. In order to compare it with one classical controller we simulated the same system
controlled by PID. PID controller has only three parameters to adjust. Controlled
system shows good results in terms of response time and precision when these
parameters are well adjusted.
3. Fuzzy controller has a lot of parameters. The most important is to make a good choice
of rule base and parameters of membership functions. Once a fuzzy controller is
given, the whole system can actually be considered as a deterministic system.
4. Fuzzy controlled system doesn’t have much better characteristics in time domain that
PID controlled system, but its advantage is that it can deal with nonlinear systems.
5. One of the most important problems with fuzzy controller is that the computing time
is much more long that for PID, because of the complex operations as fuzzification
and particularly Deffuzzification.
PID controller cannot be applied with the systems which have a fast change of
parameters, because it would require the change of PID constants in the time. It is
necessary to further study the possible combination of PID and fuzzy controller. It
means that the system can be well controlled by PID which is supervised by a fuzzy
system.