On-line, self-monitoring tuner for proportional integral derivative controllers

The author describes a fuzzy-logic-based tuner for continuous online tuning of proportional, integral, and derivative (PID) controllers. A unique feature of this tuner is the adaptive scaling of its output in real-time by a self-monitoring algorithm which is a function of the history and certain statistical measures of performance. The adaptive scaling makes the tuner robust to large variations in parametric and dynamic uncertainties in the plant models. The author presents simulation results to demonstrate the performance of the tuner and the self-monitoring algorithm