Fuzzy proportional integral - proportional derivative (PI-PD) controller

We propose a fuzzy PI-PD controller that is tuned by using genetic algorithm (GA). The fuzzy PI-PD controller preserves the linear structure of the conventional one, but has self-tuned gains. The proportional, integral and derivative gains are nonlinear functions of their input signals having certain adaptive capability in set-point tracking performance. The proposed design is then optimized using the GA. Our proposed controller is validated by applying both linear and nonlinear test signals. The results demonstrate that gain optimization using GA leads to better transient performance of the proposed fuzzy PI-PD controller.