Design of fuzzy PD + I controller for tracking control

This paper presents a fuzzy PD+I controller that uses the linear fuzzy inference method. In this structure, the proportional and derivative gains vary with the output of the system under control. Two-input PD type fuzzy controller is designed to obtain the varying gains. The proposed structure maintains the same performance as the general-purpose linear PID controller, but enhances the tracking performance over a wide range of input and parameter variations. Numerical simulations and experiment results show the effectiveness of the fuzzy PD+I controller in comparison with the conventional PID controller.