TUNING OF PID

CONTROLLER WITH
FUZZY LOGIC

CONTENTS
Serial No.

Topic

Slide No.

Introduction

Fuzzy Logic

Example

PID Controller

Designing of PID
Controller

Necessity of Tuning

ZEIGLER NICHOLS
Method

Inferences from ZN
method of tuning

10

PID tuning using

fuzzy set-point
weighting

11

10

Block diagram for PID

tuning

13

11

Conclusion

15

INTRODUCTION
->PID controllers constitute an important part at industrial control
systems so any improvement in PID design and implementation
methodology has a serious potential to be used at industrial
engineering applications.
->The PID controllers which were invented in the 1900s are still used in
more than 95% of industrial control loops .
-> They have survived many changes in technology from mechanics and
Pneumatics to microprocessors via electronic tubes , transistors and
integrated circuits .
-> Present day PID controllers are made by using
microprocessors/microcontrollers and using Programmable logic control
technology.

Fuzzy Logic

-> Fuzzy logic is an approach to computing based on degrees of truth

rather than the usual true or false(1 or 0) Boolean logic on which the
modern computer is based.
-> Boolean logic is a subset of fuzzy logic.
-> the FL is based on the implementation of human understanding and
human thinking in
control algorithms.
-> Fuzzy logic has been applied to many fields, from control theory to
artificial intelligence.
-> As the complexity of a system increases, it becomes more difficult
and eventually impossible to make a precise statement about its
behaviour, eventually arriving at a point of complexity where the fuzzy
logic method is the only way to get at the problem.

EXAMPLE

Given a number between 0 and 10 that represents the quality of service at a restauran
(where 10 is excellent), what should the tip be?

The Non-fuzzy Approach

Suppose that the tip always equals
15% of the total bill.
tip=0.15

The fuzzy Approach

This takes into account the quality
of the service. Because service is
rated on a scale of 0 to 10, let the
tip go linearly from 5% if the
service is bad to 25% if the service
is excellent.
tip=0.20/10*service+0.05

PID CONTROLLER

A proportional-integrating-derivative controller is a generic control loop

feedback mechanism widely used in industrial control systems.
A PID controller calculates an "error" value as the difference between a
measured process variable
and a desired set- point.
The controller attempts to minimize the error by adjusting the process control
inputs.

ALGORITHM

p depends on present error

I - depends on accumulation of past errors
D - is a prediction of future errors

DESIGNING OF PID
CONTROLLER

An open-loop response is taken and the parameters to be improved are

listed .
Constants Rise time
Overshoot Settling
ess
Time
Kp

Decrease

Increase

Small
change

Decrease

Ki

Decrease

Increase

Increase

Eliminate

Small
Change

Decrease

Decrease

Small
Change

Kd

Values of Kp, Ki, and Kd are adjusted until we obtain the optimum
response .

NECESSITY OF TUNING

Tuning is the process of finding appropriate parameters for the PID

controller . Tuning determines the overall performance of control loop
which affects quality of product , cost etc .
A pid control system needs tuning if
a) Careful consideration was not given to the units of gains and other
parameters.
b) The process dynamics were not well-understood when the gains were
first set, or the dynamics have (for any reason) changed.
c) Some characteristics of the control system are direction-dependent (e.g.
actuator piston area, heat-up/cool-down of powerful heaters).

ZEIGLER NICHOLS METHOD

This method proposed by Ziegler and Nichols is based on experimentally

determining the
point of marginal stability.

Formula
u(t)= Kp [e(t)+Td de(t)/dt+1/Ti e(t)dt]

Procedure
1- The pid controller is turned into p controller by setting Ti=infinity and
Td=0.
2 The gain Kp is set to zero.
3 The control loop is closed by setting the controller in automatic mode.
4 - Kp was increased until there are sustained oscillations in the signals in
the control system.

Inferences from ZN method of

tuning
1 Ensures good load disturbance attenuation.
2 The algorithm and application is quite simple .

3 System maybe driven towards instability.

4 poor phase margin, hence large overshoot and settling time for step
response .
5 We dont know in advance the amplitude of sustained oscillations.
6- Does not work if operating point is unstable.
7 - Poor performance for processes with a dominant delay.
8 - Closed loop very sensitive to parameter variations.

1
0

PID tuning using fuzzy set-1

point weighting1
Formula -

u(t)= Kp [e(t)+Td de(t)/dt+1/Ti e(t)dt]

->Set-point for the proportional action is weighted by means of a constant b

<1 .
so we get u(t)= Kpep(t)+Kdde(t)/dt+Kie(t)dt
where ep(t)=bysp(t)y(t)
-> In this way, a simple two-degree of freedom scheme is implemented .
-> one part of the controller is devoted to the attenuation of load
disturbances, and the other to the set-point following as shown in figure,
where the following transfer functions are indicated:
Gff = Kp [b+1/(sTi)+Td]
Gc = Kp[1+1/(sTi)+Td]

1
2

However, the use of set-point

weighting generally leads to an
increase in the rise time since the
effectiveness of the proportional
action is somewhat reduced.

Ysp

This significant drawback can be

avoided by using a fuzzy inference
system to determine the value of the
weight b(t) depending on the current
value of the system error e(t) and its
time derivative (t).
the output f(t) of the fuzzy module is
added to a constant parameter w,
resulting in a coefficient b(t) that
multiplies the set-point.

Gff

Y
PROCESS

Gc
-1

Two degrees of freedom

implementation

1
3

Block diagram for PID Tuning

START
Calculate Kp, Ti, Td
according to the Ziegler
Nichols method

Fine-tune the
fuzzy-logic
controller by
slightly
varying the
parameters
and/or
modifying
the rules
suitably

No

Is the
desired
performan
ce
obtained?

Yes

Obtain suitable of fixed set

point b for minimising IAE .

Simulate the models and

compare the values of
Ziegler Nichols fixed b
and fuzzy b.

Select error and change in error

as the input variables to the
fuzzy inference system.

END

The value of the constant

parameter w and scaling
coefficients Kin2 and Kout, are
obtained by an iterative
procedure for obtaining
minimum IAE .

The same procedure is

repeated for three, five and
seven membership functions
for input variables . The
conventional, fixed weight
and fuzzy-set-point weighted
tuning procedures are
compared.

1
4

1
CONCLUSION
5
The results have clearly emphasized the advantages of fuzzy inference
systems .

The main benefits in the use of FL appear when process non-linearities

such as saturation are significant.

a balance is obtained between both rise time and overshoot in the

response i.e lesser overshoot and smaller rise time are obtained
simultaneously by using FL which is impossible using conventional
methodologies .

The

ease of tuning of fuzzy mechanism parameters plays a key role in

the practical applicability of the methodologies, since it determines the
improvement in the cost per benefit ratio with respect to standard
methods.

References

1
6

1 - Gaddam Mallesham Akula Rajani ,automatic tuning of pid controller

using fuzzy logic
8th international conference on development and application system ;
Suceava,Romania,
May 25-27 , 2006.
2 - A Visioli of Diupartimento di Elettronica per lAutomazione,Brescia
University ,
tuning of pid controllers with fuzzy logic proceedings of ieee, Volume
148, issue-1,
Pages:1-8 , jan 2001
3 - L.J.Nagrath and M.Gopal , Control System engineering , New age
internatrional publication , 4th edition , 2006.

THANK YOU