DESIGN AND APPLICATIONS OF

FUZZY LOGIC PID CONTROLLER

 INTRODUCTION
 A Controller is a device that receives data from a measuring
instrument , compares that data to a given set point, and if
necessary, signals a control element to take corrective actions

 Classification of Industrial Controller

1. On-Off Controller
2. Proportional Controllers
3. Proportional (P) + Integral (I) i.e. PI Controllers
4. Proportional (P) + Derivative (D) i.e. PD Controllers
5. Proportional (P) + Integral (I) + Derivative (D) i.e. PID Controllers
On-Off Controller
 On-Off control is the simplest form of feedback control.
 A common example of on-off control is the temperature control in a domestic heating system.
 When : temperature < thermostat set point then heating ON
temperature > set point then heating OFF
 Drawback : the repeated switch on and off at very high frequency will cause the
boiler to not last very long
Proportional Controller
 In the proportional control algorithm, the controller output is proportional to the error
signal, which is the difference between the set point and the process variable. In
other words, the output of a proportional controller is the multiplication product of the
error signal and the proportional gain.
 Drawback: Offset issue
Proportional Integral Controller
 The proportional integral controller is used to decrease the steady
state error without affecting the stability of the control system.
 Drawback: Slow Response, Stability
Proportional Derivative Controller
 The proportional derivative controller is used to improve the stability
of control system without affecting the steady state error.
 Drawback: Offset, Steady state error
 PID Controller
 A PID controller is a control loop mechanism employing feedback that is widely
used in industrial control systems.
Example: An everyday example is the cruise control on a car, where ascending a hill
would lower speed if only constant engine power is applied. The controller's
PID algorithm restores the measured speed to the desired speed with minimal delay
and overshoot by increasing the power output of the engine.
 PID Controllers are everywhere! Due to its simplicity and
excellent, if not optimal, performance in many applications,
 PID controllers are used in more than 95% of closed-loop
industrial processes.
 Can be tuned by operators without extensive background in
Controls, unlike many other modern controllers (Full State
Feedback) that are much more complex but often provide
only slight improvement.
 WORKING OF PID CONTROLLER
■ PID controller maintains the output such that there is zero error between process variable and set
point/ desired output by closed loop operations. PID uses three basic control behaviors that are
explained :
■ P- Controller : P- controller gives output which is proportional to current error e (t). It compares
desired or set point with actual value or feedback process value. The resulting error is multiplied with
proportional constant to get the output.
■ I-Controller : PI controller due to limitation of p-controller where there always exists an offset
between the process variable and set point, I-controller is needed, which provides necessary action to
eliminate the steady state error.
■ D-Controller : I-controller doesn’t have the capability to predict the future behavior of error. So it
reacts normally once the set point is changed.. It gives the kick start for the output thereby increasing
system response
 Why do we need Controllers ?
■ Without automatic controllers, all regulation tasks will have to be done
manually.
■ For example: To keep constant the temperature of water discharged from an industrial
gas-fired heater, an operator will have to watch a temperature gauge and adjust a fuel
gas valve accordingly .
■ PID controllers can be used to regulate flow, temperature, pressure, level, and many other
industrial process variables
How do the PID parameters affect system dynamics?

 4 major characteristics of the closed-loop step response.

 Rise Time: the time it takes for the plant output y to rise beyond 90%
of the desired level for the first time.
 Overshoot: how much the peak level is higher than the steady state,
normalized against the steady state.
 Settling Time: the time it takes for the system to converge to its steady
state.
 Steady-state Error: the difference between the steady state output
and the desired output.
Based on the table :
We determine what characteristics of the system needs to be improved
Use Kp to decrease rise time
Use Kd to reduce the overshoot and settling time
Use Ki to eliminate the steady state error
 Tuning of PID Controllers
 Zeigler-Nichols method : it is the most commonly used method, The Ziegler-Nichols rule is a PID tuning
rule that attempts to produce good values for the three PID gain parameters:
 Kp - the controller path gain
 Ti - the controller's integrator time constant
 Td - the controller's derivative time constant
given two measured feedback loop parameters derived from measurements
 FUZZY LOGIC BASED TUNING
 Fuzzy logic is a form of many-valued logic in which the truth
values of variables may be any real number between 0 and 1
both inclusive. It is employed to handle the concept of partial
truth, where the truth value may range between completely
true and completely false
 FUZZY PID CONTROLLER
 Advantages: Reduce design choices and Tuning stability
 Design Procedure:
- Build and tune a conventional PID controller first.
- Replace it with an equivalent linear fuzzy controller.
- Make the fuzzy controller nonlinear.
- Fine-tune the fuzzy controller.
FUZZY – “IF-THEN” RULES
 FUZZY LOGIC BLOCK DIAGRAM
Set Point
 Applications of PID Controller
 Temperature controller system – simplest form
 Applications
 Water Level Controller: Liquid Level Control System (LLCS) will automatically START the
pump set as soon as the water level falls below the predetermined level. Liquid Level Control System
provides you the flexibility to decide for yourself the water levels for operations of pump set in
upper/lower tanks. Liquid Level Control System will also automatically STOP the pump set as soon as
the water level touched the predetermined Upper level.