1

CHAPTER 1
INTRODUCTION

1.1

BACKGROUND
Processes, with only one output being controlled by a single

manipulated variable, are classified as Single Input Single Output (SISO)

systems.Many processes, however, do not conform to such a simple control
configuration.Systems with more than one control loop are known as Multi
Input Multi Output (MIMO) or multivariable systems. Most of the controlled
processes in industries are Multi Input Multi Output processes.The control of
MIMO systems is a complicated problem due to the coupling that exists
between the control inputs and outputs.When MIMO systems are nonlinear
and uncertain, their control problem becomes more challenging (Boulkraune
2010, Laboid 2010) and as such there is a need for an efficient tuning method
to control both SISO as well as MIMO processes.
Proportional Integral (PI) / Proportional Integral Derivative (PID)
controllers are widely used in process industries due to the simplicity of their
design and tuning methods (Mudi and Dey 2011). Now-a-days, Fuzzy Logic
Control (FLC) has become an alternative to conventional control algorithms
to solve problems dealing with complex processes (Lee 1990, Sugeno 1985,
Tong 1984, Zimmermann 1991). It combines the advantages of classical
controllers and human operators. A suitable choice of control variables plays
an important role in fuzzy control design.Typically, the inputs to the fuzzy
controller are the error (e) and change in error ( e) (Yager and Filev 1994,

Choi et al 2000, Karakya and Karakas 2008, Kurnaz et al 2009,

Safarinejadian et al 2012, Sharma et al 2010). PI type FLCs are most
commonly used as proportional and integral actions are combined in the
Proportional Integral (PI) controller which, in turn, gives the advantages of
inherent stability of Proportional controller and the offset elimination by
Integral controller. Also the performance and tuning of PI controllers for
industrial processes are well known among all industrial operators.However,
tuning of PI controller, requires an accurate model of the process and effective
design rules (Bai et al 2008).
A Fuzzy Logic Controller is said to be adaptive, if any one of its
tunable parameters changes when the controller is in operation. An adaptive
FLC that finetunes an already working controller by modifying either its
Scaling Factors (SF) or Membership Functions (MF) or both of them is called
a Self Tuning Fuzzy Logic Controller (STFLC) (Dirankov 1993, Maeda and
Murakami 1992, Nomura et al 1991,Yoshida et al 1990, Hayashi 1991,
Iwasaki and Morita 1990, Ross 1995, Hameed et al 2010). The performance
of PI type fuzzy controller can be improved by introducing the self tuning
mechanism (Arrofiq and Sadd 2008). In Self Tuning Fuzzy Proportional
Integral Controller (STFPIC), there are two fuzzy logic blocks, one for
calculating the gain updating factor and the other for computing the main
control.In STFPIC, tuning of output SF is considered as the controller gain.
Tuning of the output SF has been given the highest priority because of its
strong influence on the performance and stability of the system. The FLC is
tuned online by dynamically adjusting its output SF by a gain updating factor
. The gain updating factor is determined from a rule base determined from
the knowledge of the system (Mudi and Pal 1999). However, much attention
has not been given to the selection of the scaling factors of Fuzzy PI
Controller and Self Tuning Fuzzy PI Controller in the existing literature.

In this thesis, an analytical method is determined for selecting the

scaling factors of the FPIC and STFPIC. With the analytically determined
values of scaling factors, FPIC and STFPIC are designed, thus, making them
Analytically tuned Fuzzy Proportional Integral Controller (AFPIC) and
Analytically tuned Self Tuning Fuzzy Proportional Integral Controller
(ASTFPIC). The comparative performances of the Analytically tuned FPIC
and Analytically tuned STFPIC are investigated on certain SISO as well as
MIMO processes. The performances of the Analytically tuned STFPIC are
compared with those of FPIC, Analytically tuned FPIC and STFPIC for
different processes.
1.2

LITERATURE REVIEW
The background information available through the studies of

different researchers over the decades with regard to the PI/PID Controller,
Fuzzy PI/PID Controller and Self Tuning Fuzzy PI/PID Controller for various
applications are explained below.
1.2.1

PI/PID Control
Zeigler and Nichols (1942) developed the tuning methods for P,PI

and PID controllers. Cohen and Coon (1953) presented a method to determine
the adjustable parameters. Smith (1957) presented an effective control scheme
for processes with large time delay. Garcia and Morari (1985) have designed
an Internal Model Controller (IMC) for Multi Input-Multi Output (MIMO)
discrete time systems which provides a practical tool to influence dynamic
performance and robustness. Nesler (1986) has proposed self-tuning
controller for Heating, Ventilation, and Air Conditioning (HVAC) system in
which Proportional and Integral control parameters are calculated from tuning
rules designed to minimize the Integral Absolute Error (IAE) for set-point
changes. Hang et al (1991) proposed a refined Zeigler Nichols tuning rules.

Tyreus and Luyben (1992) stated that Internal Model Control

(IMC) approach leads to poor control unless care is taken in selecting the
closed loop time constant and proposed an alternative method that uses
classical frequency response methods. Yusof et al (1994) stated that the Self
Tuning PI Controller performs better than the conventional PI controller when
there are changes in the process dynamics. Astrom and Hagglund (1995) have
given an improvement of Zeigler Nichols tuning method. Parasiliti et al
(1996) developed a new on-line self-tuning of PI controller and implemented
the controller for a permanent magnet synchronous motor. Reddy et al (1997)
have explained about the design of centralized PI controllers for a MSF
desalination plant. Various design methods based on the transfer function
matrix of the plant were considered. The methods include (1) the Davison
method, (2) the Maciejowski method, (3) the decoupler design and (4) the
Tanttu and Lieslehto method. And the performance of the closed loop system
for a step change in set point was compared.
Kookos et al (l999) presented a new multi objective method for
tuning of PI/PID controllers and demonstrated its effectiveness by comparison
with the existing tuning methods. Wang and Shao (1999) proposed autotuning of an optimal PI controller and its effectiveness is shown by the
simulation results. Skogested (2003) presented a simple analytic rule for
tuning. Instead of deriving separate tuning rules for each transfer function, he
approximated the process by a first order plus time delay process and then
used a single tuning rule. The controller tuned using this tuning rule gives
comparable performance. Tavakoli and Fleming (2003) have developed an
optimal method for tuning PI controllers using dimensional analysis and
numerical optimization techniques and showed that the proposed method has
a considerable superiority over conventional techniques and the closed loop
system has robust performance under model parameter uncertainities. Sree
and Chidambaram (2003) developed a simple method for tuning PI

Controllers for unstable systems with a zero. They applied the controller
design for non-ideal Continuous Stirred Tank Reactor (CSTR) and showed
that the developed PI Controller significantly reduced overshoot and
undershoot and was robust for uncertainity in the model parameters.
Hagglund and Astrom (2004) stated that Zeigler Nichols frequency response
method for tuning PI Controller had severe limitations and a new tuning rule
could be obtained by a major modification. Jones and Tham (2004) compared
the two simple PID design methods, Internal Model Control (IMC) and Gain
Phase Margin (GPM), that used robustness as their main design criterion, and
applied to a multi-loop PI control configuration which was being used to
control a multivariable process model against load disturbances.
Ali (2005) proposed an automatic tuning method for the online
adjustment of PI settings and tested the algorithm on a CSTR and proved that
better performance could be achieved for both set point change and load
disturbance. Xiong and Cai (2006) have explained controller design in terms
of relative gain and relative frequency. The proposed effective transfer
function provides both gain and phase information for decentralized controller
design in a simple and straight forward manner when compared with existing
equivalent transfer functions. The interaction effects for a particular loop from
all other closed loops are directly incorporated into the effective transfer
functions in four ways. The decentralized controllers can be independently
designed by employing the single loop tuning techniques. This design method
is simple, straightforward, easy to understand and implement by field
engineers. Bentayeb

et al (2006) have proposed the design and the

optimization of robust PID controllers for delayed Multi-Inputs Multi-Outputs

(MIMO) plants using moments approach. This methodology is based on a
reference model used to specify both time and frequency closed loop
requirements. The PID controller is obtained after a Non Linear Optimization

procedure minimizing a quadratic cost between the reference model frequency

moments and the closed loop ones.
Bagis (2007) presented an efficient fast tuning method based on
modified genetic algorithm to find the optimal parameters of the PID
Controllers to satisfy the desired system specifications and demonstrated its
effectiveness by simulation analysis and comparing it with the existing
methods. Liu (2007) stated that Self Tuning PI Controller was robust to
variations in induction motor parameters and achieves global asymptotic
speed tracking. Xiong et al (2007) have explained about the control system
design method for multivariable processes by employing the concepts of
energy transmission ratio and effective relative gain, an equivalent transfer
function matrix for closed loop control system. Based on the equivalent
transfer function matrix, both off-diagonal decoupling controllers and main
loop diagonal controllers can be easily designed using existing PI/PID tuning
rules. The main advantages of this method are that : (1) the overall control
system performance is better compared with the existing decoupling methods;
(2) it is very simple which can be easily understood and implement by field
control engineers; and (3) the control system is robust, it can still work with
satisfactory performance even under significant model mismatches. Lengare
et al (2008) have proposed the auto tuned Proportional Integral Derivative
(PID) Controllers for applications where large load changes are expected or
the need for extreme accuracy and fast response time exists. The algorithm
presented is used for the tuning PID controller to obtain its parameters with a
minimum computing complexity . Bentayeb et al (2008) have presented a new
technique for robust MIMO controllers synthesis and reduction based on a
reference model and moments approach intended to control a MIMO thermal
system. The reference model allows to specify the performances requirements
for the closed loop and improve the controller robustness while the moments

tool (frequency and time ones) is used to reduce the controller structure using
a Non Linear Optimization.
Shamsuzzoha et al (2010) developed a new procedure for PI
controller tuning of an unidentified process using closed loop responses. The
tuning method was derived for the first order time delay processes and
algorithm was tested on a broad range of other stable and integrating
processes. The results showed that the closed-loop data were comparable with
the Skogested Internal Model Control (SIMC) tuning rule.
1.2.2

Fuzzy PI/PID Control

Lee (1993) proposed two augmented versions of the conventional

Fuzzy PI Controller using resetting factors. The first of the two fuzzy
controllers determines the resetting rate based on error and error rate, while
the second one uses error and control input. The computation of the resetting
factor is driven by a fuzzy rule base. The controller remarkably improves the
transient response of a second-order linear system with integrating element.
Chen and Ying (1993) analyzed the stability of nonlinear fuzzy PI control
systems. The investigation is done by employing small gain theorem to
nonlinear adaptive PI controller whose gains change continuously with the
output of the processes under control and it is proved that in a conventional PI
control system, if the linear PI controller is replaced by the nonlinear fuzzy PI
controller, then the stability of the resulting control system remains
unchanged, in the sense that the resulting control system will be (locally)
asymptotically stable if the original conventional PI control system is (locally)
asymptotically stable. Zhao et al (1993) developed fuzzy gain scheduled
scheme of (Proportional Integral Derivative) PID Controllers for process
control. Fuzzy rules and reasoning are used online to determine the controller
parameters based on error signal and its first difference. Simulation results
demonstrated that better control performance can be achieved in comparison

to Ziegler Nichols PID controllers. Moon (1995) has proved that when a
Proportional Integral (PI) Controller is designed, one can design a Fuzzy
Logic Controller whose output is identical to that of the PI Controller.
Similarly, if a Fuzzy Logic Controller using specified fuzzy logic operations
is designed, there could be a PI Controller whose output will be identical to
that of the designed Fuzzy Logic Controller for Single Input and Single
Output system. Li and Gatland (1996) proposed a fuzzy 3 term control
scheme to improve the performances of a fuzzy two term controller and
through simulation analysis showed that fuzzy three term control scheme is
advantageous and effective than fuzzy two term control.Cheng and Wang
(1998) designed a fuzzy tuned PI Controller for benchmark drum boiler and
compared its performances with the pure fuzzy controller. Fuzzy tuned PI
Controller showed better performance than pure PI Controller. Xu and Pok
(1998) established a new tuning formula based on the concepts of gain and
phase margins by adjusting the nonlinear characteristics of the simplified
fuzzy Pi controller. The new tuning formula largely eliminated the need for
manual fine tuning and human expertise.
Kaminskas and Liutkevicius (2002) synthesized adaptive fuzzy
controllers for water level and air pressure control in the nonlinear plant and
experimentally proved the efficiency of adaptive fuzzy controllers by
controlling the plant at different working conditions and stated that adaptive
fuzzy controllers were more powerful than conventional PI or PID controllers
when working under normal working conditions and when the plant dynamics
changes in time. Mokrani and Kouzi (2004) investigated the influence of
fuzzy adopted gains applied for speed regulation of an indirect field oriented
induction motor and stated that a simple fuzzy adaptation mechanism could
improve greatly the robustness of the drive speed regulation. They also stated
that robustness of the system was ameliorated in a wide range of changing
conditions especially in the case of the fuzzy tuning of the three scaling

factors. Chan and Chu (2006) designed a Fuzzy PI Controller to guarantee

proportional delay differentiation on Web Servers and proved that Fuzzy PI
Controller outperforms classical PI controller. They also stated that Fuzzy PI
Controller could reduce the settling time and was more robust against strong
uncertainities. Betin et al (2007) proposed a sliding mode approach for
determination of scaling factors for fuzzy logic control. Malar and
Thyagarajan (2008) designed a decentralized fuzzy controller for a
multivariable laboratory four-tank process. Separate simulations were
performed for both minimum-phase and non-minimum phase and results
confirmed the effectiveness of the fuzzy controller over conventional
controller. Kanagaraj et al (2008) implemented a fuzzy coordinated classical
PI control scheme for controlling the pressure in a pilot pressure tank system
in real time. The comparison of the fuzzy coordinated PI control scheme with
a classical PI and PI-type fuzzy control method showed that the fuzzy
coordinated PI control structure was able to quickly track the parameter
variation and perform better in load disturbances and also for set point
changes. He(2008) stated that in the design of fuzzy controller it is very
important to reasonably select the scaling factor of the input variable of a
fuzzy controller and analyzed the performance double inverted pendulum
system simulation model and showed that the scaling factors have great
influence on the control performance of the fuzzy controller. Chopra et al
(2008) have proposed simple and effective method for tuning of fuzzy PI
(proportional-integral) controller based on fuzzy logic. Here the input scaling
factors are tuned online by gain updating factors whose values are determined
by rule base with the error and change in error as inputs according to the
required controlled process. The rules are designed for tuning the scaling
factors based on the performance measures such as peak overshoot (OV), Rise
time (RT) and Amplitude (AM).

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Ougli et al (2009) have discussed the problem of designing a

Fuzzy Logic PI Controller for a class of MIMO systems containing a
polynomial input nonlinearity. Here, the MIMO system has been
decomposed

into

Multi-input

Single-output

(MISO)

subsystems.

Subsequently, the control of a MIMO system has been transformed into the
control of a set of coupled nonlinear MISO subsystems. Moreover, a good
performance has been obtained by means of Fuzzy Logic PI Controller. The
potency and robustness of the proposed approach has been tested on a
simulation example. Jacob and Binu (2009) designed a Fuzzy PI Controller
for wind tunnel pressure regulation and stated that fuzzy controller was added
to improve the performance robustness of classical PI Controllers. Ferdi et al
(2010) developed an adaptive fuzzy PI controller for Dynamic Voltage
Restorer (DVR) and compared the performances with conventional PI
controller. The simulation results proved that the adaptive fuzzy PI controller
gave more improvement in the performance than conventional PI controller.
Jones et al (2011) developed a fuzzy assisted PI control system for wind
tunnel. Performance analysis shows more improvement in settling time and
overshoot compared to conventional PI controller. Aly et al (2012) developed
a Fuzzy Logic PI Controller for a class of industrial hydraulic manipulator
and through simulation analysis demonstrated that the Fuzzy Logic PI
Controller was more robust and faster compared to traditional PI/PID
Controller.
1.2.3

Self Tuning Fuzzy PI/PID Control

He et al (1993) proposed a scheme for self tuning of a conventional

PID Controller using fuzzy rules. The proportional sensitivity integral time
and derivative time were initially calculated using ZieglerNichols tuning
formula. Mudi and Pal (1999) described a robust self tuning scheme for PI
and Proportional Derivative (PD) type fuzzy controllers in which they

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adjusted output SF online by fuzzy rules and proved that Self Tuning Fuzzy
Logic Controller gave more remarkable performance than Fuzzy Controller.
Woo et al (2000) developed a method to tune the scaling factors of the PID
type fuzzy controller online. Simulation of the PID type fuzzy controller with
self tuning scaling factors showed better performance in the transient and
steady state response. Babuska et al (2002) developed and implemented a self
tuning fuzzy PI controller for pH control system. The self-tuning capability
made the controller robust with respect to the varying buffer capacity and the
working volume of the fermenter.
Zhao and Collins (2003) experimentally demonstrated the
performance of industrial weigh belt feeder using PI type FLC, gain
scheduled PI type FLC and self tuning PI type FLC and stated that Self tuning
PI type FLC gave effective performance compared to the other two types of
FLCs. Karasakal et al (2005) implemented a new self tuning fuzzy PID
controller on PLC and compared the performances with classical fuzzy PID
controllers without tuning mechanism and observed that the self tuning
mechanism decreased the oscillations and the settling time. Cheng et al (2007)
proposed a new self tuning fuzzy PI controller with conditional integral to
control the characteristics of a doubly salient permanent magnet motor drive
and showed that the propose new self tuning fuzzy PI controller offers better
adaptability, better steady state and dynamic performances than the normal PI
control scheme.
Vijayan et al (2007) have proposed a self tuning fuzzy control
method for a Switched Reluctance Motor (SRM) Drive. Here, the outputscaling factor has been tuned online by using the Gain Tuning (GT) FLC rules
and stated that Self Tuning Fuzzy PI Controller shows enhanced performance
than conventional PI type FLC. It has been proved that the proposed Self
Tuning Proportional Integral Fuzzy Logic Controller (STPIFLC) for SRM

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drive has a rapid tracking capability, low steady state error, effective against
load disturbance and very less torque ripple. Wahyungoro (2008) conducted
simulation on DC servomotor control system and analysed the performances
of a PID Controller, PI Controller, fuzzy scheduled PID Controller and a
fuzzy logic based Self Tuning PI Controller on the system.The performance
comparison reveals that Fuzzy logic based Self Tuning PI Controller has the
best performance compared to conventional PID and fuzzy scheduled PID
Controller for speed control of (Direct Current) DC Servomotor. Hameed et al
(2008) found that for damping oscillations, performance of STFPIC was
better than FPIC. Mudi and Pal (2008) proposed a STFPIC for HVAC system
in which they used different scaling factors for tuning the controller under
parameter variations and proved STFPIC gave better performance under large
variation in time constant and gain. Masilia et al(2008) implemented a self
tuning fuzzy controller in the field oriented control of induction machine
.They conducted simulation analysis and stated that the self tuning fuzzy
controller has the ability to adjust it parameters online according to the error
between the actual machine speed and model reference.
Zulfatman (2009) applied self tuning fuzzy control on electro
hydraulic actuator to tune the values of Kp,Ki,and Kd of the PID controller
and proved that Self Tuning Fuzzy Proportional Integral Derivative Controller
(STFPID) showed improved performance than conventional PID. Ozbay
(2010) conducted an experiment on load frequency control for small hydro
power plants to overcome the disadvantages of traditional PI Controller and
evaluated the performance.The simulation results showed that the system
adjustment time and overshoot decreased significantly and control
performance got much improved after the fuzzy self tuning algorithm was
applied in conventional PI Controller.Sujatha and Vaisakh (2011) applied the
Self Tuning Fuzzy PI Control scheme for direct torque controlled induction
motor by adjusting the output scaling factor online by fuzzy rules. They

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compared the performances of STFPIC with the corresponding Fuzzy PI

Controller and conventional PI Controller and thus proved that STFPIC gave
a remarkably more improved performance than conventional PI Controller.
Chen et al (2011) implemented a self tuning fuzzy PI Controller algorithm in
a microchip to stabilize the laser power. Fuzzy Reasoning Engine (FRE) was
used to adjust the parameters of PI Controller.The experimental results
showed that the self tuning fuzzy PI controller dramatically stabilized the
laser output power and improved the tracking performance.
Dhanalakshmi and Palaniswami (2012) developed a Self Tuning
Fuzzy Logic PI Controller to regulate the frequency deviation for load
frequency control of an isolated wind micro hydro -diesel hybrid power
system for various load disturbances. Simulation results showed that the
performance of the self tuning Fuzzy Logic PI Controller damped out the
frequency deviation and attained the steady state value with less settling time
and overshoot when compared with Fuzzy Logic Controller for a wide and
unpredicted load change. Wahid and Hassan (2012) designed a STFPID
Controller to improve the performance for pitch control of aircraft system.
Comparative assessment based on time response specifications between
conventional PID Controller with self-tuning fuzzy PID for an autopilot of
longitudinal dynamic in pitch aircraft was done and analyzed. Simulation
results showed that the performance of a pitch control system was improved
significantly using self-tuning fuzzy PID compared to conventional PID
controller.
1.3

OBJECTIVE OF THE THESIS

The objective of the thesis is to determine a unified analytical

method for selecting the scaling factors in FPIC and STFPIC, and hence to
compare the performances of FPIC, Analytically tuned FPIC, STFPIC and
Analytically tuned STFPIC under all circumstances for different processes

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and as a sample to verify the performances of a second order SISO process, a

third order SISO process, a second order MIMO process and a third order
MIMO process.
1.4

ORGANISATION OF THE THESIS

The full thesis work has been organized in seven chapters.
Chapter 1 discusses the general background and offers an

introduction to tuning of the conventional Controllers, Fuzzy PI Controllers

and Self Tuning Fuzzy PI Controllers, and through the literature review,
research work carried out in this area is highlighted. It concludes a statement
of the main objective and the outline of the thesis.
Chapter 2 gives the MIMO and SISO processes chosen and their
transfer function model.
Chapter 3 explains an analytical method for the determination of
the scaling factors of a Fuzzy PI Controller.
Chapter 4 gives the design of the Fuzzy PI Controller and
Analytically tuned FPIC. The output responses of both FPICs are compared
for all the four process models.
Chapter 5 deals with the Self Tuning Fuzzy PI Controller and
explains about the self tuning mechanism applied to FPIC and Analytically
tuned FPIC. The output results of both STFPICs are compared for all the four
process models.
Chapter 6 consolidates the results and the discussion which show
the comparison of FPICs and STPICs for all the four processes.
Chapter 7 presents the conclusions arrived at from the present
research and also provides a scenario for future research in this area.