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30 October 2006 Research on adaptive fuzzy PID control for long time delay systems
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An adaptive fuzzy PID controller is proposed to solve the problem that long time delay systems are difficult to be controlled. The controller is obtained by combining the fuzzy controller with PID controller in series, namely the output of the fuzzy controller is as the input of PID, and the control parameters of PID change nonlinearly with the system error's change. Meanwhile, the output scaling gain Ku of the fuzzy controller can be adaptively regulated. Two regulation methods are presented: one is that the linear function between Ku and the system's error is built up based on the system's dynamical characteristics; the other is that Ku is automatically regulated with the fuzzy inference whose two inputs are the comprehensive performance index and its change, the output is the increment of Ku. In the paper, we combine the controlled system with PID controller as an integrated system, and then build up its discrete state space model in the condition that the system's output delays. Based on these, the system's stability is analyzed with Lyapunov Direct Method. Simulation test results show the method provides good control performances to long time delay systems.
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Wenguang Luo, Hongli Lan, and Wenhui Chen "Research on adaptive fuzzy PID control for long time delay systems", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 63582V (30 October 2006);

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