Fuzzy gain scheduling PI controller for a mechatronic system

This paper presents the integration results of the EMC2 software, mechatronic prototype and fuzzy PI controller. The structure of fuzzy controller has two-inputs, two-outputs (TITO) system where the error and derivative error are the inputs while the proportional and integral gains are the outputs. The fuzzy sets for each input are five Gaussian membership functions, the product fuzzy logic AND operator and the centroid defuzzifier are used to gain scheduling PI. The experimental results of the closed-loop system show the viability and effectiveness of the control position strategy. This mechatronic system is widely used in metal-mechanical industry.