An optimal fuzzy PID controller

K. S. TANG, Kim Fung MAN, Guanrong CHEN, Sam KWONG

Research output: Journal PublicationsJournal Article (refereed)peer-review

377 Citations (Scopus)


This paper introduces an optimal fuzzy proportional-integral-derivative (PID) controller. The fuzzy PID controller is a discrete-time version of the conventional PID controller, which preserves the same linear structure of the proportional, integral, and derivative parts but has constant coefficient yet self-tuned control gains. Fuzzy logic is employed only for the design; the resulting controller does not need to execute any fuzzy rule base, and is actually a conventional PID controller with analytic formulas. The main improvement is in endowing the classical controller with a certain adaptive control capability. The constant PID control gains are optimized by using the multiobjective generic algorithm (MOGA), thereby yielding an optimal fuzzy PID controller. Computer simulations are shown to demonstrate its improvement over the fuzzy PID controller without MOGA optimization.
Original languageEnglish
Pages (from-to)757-765
JournalIEEE Transactions on Industrial Electronics
Issue number4
Publication statusPublished - Aug 2001
Externally publishedYes

Bibliographical note

This work was supported by the City University of Hong Kong under Grant 7000796.


  • Fuzzy control
  • Genetic algorithm
  • Optimization
  • Proportional-integral-derivative controller


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