Predictive fuzzy PID control: theory, design and simulation

Predictive fuzzy PID control theory is developed in this paper, which o€ers a new approach for robust control of time-delay systems. The paper describes the functional structure, design principle, and stability analysis of a new predictive fuzzy PID controller. Sucient computer simulations are provided for illustration and veri®cation. First, the structure of the controller is derived from both the fuzzy PID control and the generalized predictive control concepts. Then, on-line model identi®cation, optimal cost index, fuzzi®cation, rule base, and defuzzi®cation of the representative predictive fuzzy PD+I controller are discussed in detail. Lyapunov asymptotic stability analysis is conducted. Then, many computer simulations are performed to compare with several closely related controllers such as the fuzzy PD+I controller and the Smith-type pre-dictive fuzzy PD+I controller. In the simulations, second-order linear systems with/ without time delays, nonlinear systems with/without time delays, uncertain linear systems with time delays, and uncertain nonlinear systems with time delays are used to con®rm the advantages of the new predictive fuzzy PD+I controller. Finally, this method is applied to control some chaotic systems with success. This predictive fuzzy control method provides a new way for controlling uncertainty and complex linear and nonlinear systems, even with signi®cant time delay.