This document discusses different types of fuzzy logic controller (FLC) designs, including: 1. PD-FLC, which is a common and effective FLC design that is simple to implement and tune. It uses error (e) and change in error (de) as inputs. 2. PI-FLC, which is similar to a classical PI controller but implemented as a FLC. It uses error (e) and change in error (de) as inputs to determine the change in control output (Δu) at each time step. 3. Composite FLC designs that combine multiple simple FLCs, such as fuzzy PI and fuzzy PD controllers, to control processes.

1. PID TYPE FLC DESIGN
Seniz Ertugrul, Ph.D.
For the use of MAK664E Ind. Appl. of Fuzzy Logic course ONLY !
REF: Z.Kovacic, S.Bogdan, Fuzzy Controller Design

10. BM2 10
1

11. BM2 11
PD-FLC
Classical PD rule: u(k)=Kp*e(k)+Kd*de(k)
PD-FLC : If e(k) is A and de(k) is B then u(k) is C
u(k)*Su=FLC(e(k)*Se,de(k)*Sde)
This is the most common FL Controller in application, since it is simple, easy to tune and effective.
You may use it as long as you do not need an integral term !
e(k)
U NB NO NK S PK NO PB
NB PB PB PB PO PO PK S
NO PB PB PO PO PK S NK
NK PB PO PO PK S NK NO
de(k) S PO PO PK S NK NO NO
PK PO PK S NK NO NO NB
NO PK S NK NO NO NB NB
PB S NK NO NO NB NB NB

12. BM2 12
PI-FLC
u(k)*Su=FLC(e(k)*Se,de(k)*Sde)
Classical PI :
PI-FLC:
u(k)=Kpe(k)+Kdde(k)
u(k)=u(k-1)+u(k)
Kp  Se/Su and Kd  Sde/Su
If e is NM and de is NS then u is NB

13. Effect of Scaling Coefficients
Se
Sde
Su
shape of root
locus
location of root
on root locus
performance of
control system

14. BM2 14
Composite F-PI/F-PD kontrol
Fuzzy PI
Fuzzy PD
e(k)
e(k)
de(k)
Switching
Logic
Control Action
Control Action

15. BM2 15
Composite F-I/F-PD Control
Fuzzy-I
Fuzzy PD

Plant
de(k)
r +
-
e(k)
UI(t)
Upd(t)
u y
e(k)

17. Fuzzy Inverse Control

18. Fuzzy Internal Model Control

19. Fuzzy Decision Making

22. Fuzzy PD Compensated – Aproximate Computed Torque
Control (for robot control applications)
FLC
M(q)q

 N(q,q
 )
+
+
q,q

(q)
M̂ 
)
q
(q,
N̂  d
UFLC qd, d
q

-
e,e

+
+
+
-
d
q



24. Tuning Procedure

25. Results

28. Fuzzy Cruise
Control