3. Design on expert fuzzy PID controller
The fuzzy PID control is developed from tradition PID. Based on the fuzzy control theory, the fuzzy
relationship between three PID parameters KP, KI, KD and the error e and error change rate ec can be
established. According to different e and ec, the parameters KP, KI, KD can be self-adjusted online in order
to make the controlled object have a good dynamic and static performance, which can meet different
control requirement.