Fine tuning of fuzzy controllers using a two-stage algorithm

A new approach is presented to fine tune a fuzzy controller based on very limited information on the nonlinear plant to be controlled. Without any off-line pre-training, the algorithm achieves very high control performance through a two-stage algorithm. In the first stage, coarse tuning of the fuzzy rules (both rule consequents and membership functions of the premises) is accomplished in real time using a small amount of information about the plant and an overall analysis of the main operating regions. In stage two, fine tuning of the fuzzy rules is achieved based on the controller output error using a gradient-based method