Design of self-organising controller with dual outputs

A new fuzzy logic controller called a self-organising controller with dual outputs (SOCDO) is presented. The SOCDO has dual outputs in the basic level and updates its control rules as it monitors measures of performance. To implement the SOCDO, the authors regard a SISO process as a double input double output (DIDO) in the self-organising level. The advantage of the SOCDO is that it shows characteristics of PID, even though it has only two inputs for the FLC, i.e. error and change of error, hence it yields both zero steady-state error and fast rising time