Proceedings of the World Congress on Engineering and Computer Science 2007

WCECS 2007, October 24-26, 2007, San Francisco, USA

Design and Performance of PID and Fuzzy

Logic Controller with Smaller Rule Set for
Higher Order System
S.R.Vaishnav, Z.J.Khan

Abstract—The proportional integral derivative (PID) controller The field of Fuzzy control has been making rapid progress
is the most widely used control strategy in industry. The in recent years. Fuzzy logic control has been widely exploited
popularity of PID controllers can be attributed partly to their for nonlinear, high order & time delay system [2].
robust performance in a wide range of operating conditions and This paper has two main contributions. Firstly, a PID
partly to their functional simplicity. This paper presents design of
controller has been designed for higher order system using
PID controller using Ziegler-Nichols (ZN) technique for higher
order system. A Fuzzy logic controller using simple approach & Ziegler-Nichols frequency response method and its
smaller rule set is proposed. Simulation results are demonstrated. performance has been observed. The Ziegler Nichols tuned
Performance analysis shows the effectiveness of the proposed controller parameters are fine tuned to get satisfactory closed
Fuzzy logic controller as compared to the ZN tuned PID controller loop performance. Secondly, for the same system a fuzzy logic
& fine tuned PID controller. controller has been proposed with simple approach and smaller
number of rules (four rules) as it gives the same performance as
Index Terms—PID controller, Ziegler-Nichols tuning, Fuzzy
logic controller, simulation.
by the larger rule set [1], [3], [7], [8], [9], [10]. Simulation
results for a higher order system have been demonstrated. A
performance comparison between Ziegler Nichols tuned PID
I. INTRODUCTION controller, fine-tuned PID controller and the proposed fuzzy
The proportional – integral – derivative (PID) controller logic controller is presented. The paper has been organized as
operates the majority of the control system in the world. It has follows, Section-II explains generalized model of PID
been reported that more than 95% of the controllers in the controller. Section-III describes the design consideration for a
industrial process control applications are of PID type as no higher order system. Section IV presents design of PID
other controller match the simplicity, clear functionality, controller using Z-N technique. Section V presents design of
applicability and ease of use offered by the PID controller [3], fuzzy logic controller using simple approach and smaller rule
[5]. The PID controller is used for a wide range of problems like base. Section VI finally conclusion close the paper.
motor drives, automotive, flight control, instrumentation etc.
PID controllers provide robust and reliable performance for
II. GENERALISED MODEL OF PID CONTROLLER
most systems if the PID parameters are tuned properly. Various
tuning methods are explained in [4], [6]. Among the tuning A PID controller is described by the following transfer
methods, the Ziegler-Nichols (ZN) technique has been very function in the continuous s-domain
influential. Ziegler-Nichols presented two tuning methods, a
step response method and a frequency response method [4], [6]. Gc(s) = P+I+D
The frequency response method is more reliable than the step = Kp+ Ki /s + Kds………….. (1)
response method [4]. In this paper, we will investigate Or Gc(s) = Kp (1 + 1/ Tis + Tds) … (2)
frequency response method for higher order system. A survey
of various sophisticated PID software packages & hardware Where Kp is the proportional gain, Ki is the integration
models is found in [5]. coefficient and Kd is the derivative coefficient. Ti is known as
integral action time and Td is referred to as derivative action
Manuscipt received July 20,2007. time. Such a controller has three different adjustments (Kp, Ti,
S.R.Vaishnav is with the Electrical Engineering Department, G.H.Raisoni & Td), which interact with each other. For this reason, it is very
College of Engineering, Nagpur. (M.S.), India.
(Email: [email protected]) difficult and time consuming to tune these three parameters in
Dr.Z.J. Khan is with the Electrical Engineering Department,Rajiv Gandhi order to get best performance according to the design
College of Engineering, Chandrapur (M.S.), India. specification of the system.
(Email: khanzj1@ rediffmail .com)

ISBN:978-988-98671-6-4 WCECS 2007

Proceedings of the World Congress on Engineering and Computer Science 2007
WCECS 2007, October 24-26, 2007, San Francisco, USA

III. DESIGN CONSIDERATION Root locus method

A PID controller is being designed for a higher order
system with transfer function Using proportion control action only, root locus for the
open loop system G(s) is shown in Fig. 3. The root locus
G(s) = 10 / [s (s2 + 6s + 8)] branches intersects the imaginary axis at kp = 4.8 and w = wu =
2.82.Therefore Ku = kp = 4.8 & Tu =  Π/2.82 = 2.22 which is
same as obtained using Ziegler Nichols frequency response
Fig.1 shows the simulink model of the PID controller and
method.
the plant with unity feedback. The authors have proposed
design of i) PID controller using Z-N technique (ii) fuzzy
controller so that the closed loop system exhibit small overshoot
Mp and settling time ts with zero steady state error ess.

Fig.1. Plant with controller

Fig. 3. Root locus for the open loop system G(s)

IV. DESIGN OF PID CONTROLLER
The unit step response of the closed loop system with kp =
Frequency response method suggested by Ziegler-Nichols 2.88, Ti = 1.11 and Td = 0.277 is shown in Fig. 4. Mp = 71.9 %,
is applied for design of PID controller [4], [6], [8]. ts = 6.33 sec and ess = 0. Both Mp and ts are too large.
By setting Ti = ∞ & Td = 0 and using the proportional
control action (kp) only, the value of gain is increased from 0 to
a critical value ku at which the output first exhibits oscillations.
Tu is the corresponding period of oscillation.
The unit step responses for different values of gain kp were
observed. The step response for the kp = 4.8 is shown in Fig. 2.

Fig. 4. Unit step response for Kp = 2.88,Ti = 1.11,Td = 0.277

With the initial values of kp, Ti and Td obtained from Z-N

Fig. 2. Step response for kp = 4.8 formula, unit step response for different combination of kp, Ti
and Td were observed.
The above response clearly shows that sustained The unit step response for kp = 4.4, Ti = 2.09 and Td = 0.5 is
oscillation occurs for kp = ku = 4.8. The ultimate period Tu shown in Fig. 5, which gives Mp = 19.8%, ts = 5.81 sec. & ess = 0.
obtained from the time response is 2.22. The value of Both Mp and ts are small as compared to the initial values
controller parameters are kp = 0.6 ku = 2.88,Ti = 0.5 Tu = 1.11, obtained from Ziegler Nichols method.
Td = 0.125Tu = 0.277.
As the mathematical model of the plant is known, ku and wu
(wu is the frequency of sustained oscillation and Tu  Π Zu)
can be found by Root locus method also.

ISBN:978-988-98671-6-4 WCECS 2007

Proceedings of the World Congress on Engineering and Computer Science 2007
WCECS 2007, October 24-26, 2007, San Francisco, USA

Fig. 8. Membership functions for output

Fig. 5. Unit step response for Kp = 4.4,Ti = 2.09,Td = 0.5
The fuzzy linguistic rules are defined from the output
V. DESIGN OF FUZZY LOGIC CONTROLLER (FLC) response of the system (Fig.9).
Simulink model of the fuzzy controller and the plant with
unity feedback is shown in Fig.6.

Fig. 6. System with Fuzzy Logic controller

Fig. 9. System step response

For a two input fuzzy controller, 3,5,7,9 or 11 membership

functions for each input are mostly used [7]. In this paper, only The system response can be divided in two phases. Phase A -
two fuzzy membership functions are used for the two inputs System output is below the set point. Phase B - System output is
error e and GHULYDWLYH RI HUURU ¡ DV VKRZQ LQ )LJ 7KH IX]]\ above the set point. Depending upon whether the output is
membership functions for the output parameter are shown in increasing or decreasing, 4 rules were derived for the fuzzy
Fig.8, here N means Negative, Z means Zero and P means logic controller (Table I). These four rules are sufficient to
Positive. cover all possible situations [1], [3], [8], [9], [10].

TABLE I. FUZZY RULES

¡
u
N P

N N Z
e
P Z P

Step response of the controlled third order process is

shown in Fig. 10. There is no overshoot, settling time is 4.75 sec
Fig.7. 0HPEHUVKLSIXQFWLRQVIRULQSXWVH ¡ and no steady state error.

ISBN:978-988-98671-6-4 WCECS 2007

Proceedings of the World Congress on Engineering and Computer Science 2007
WCECS 2007, October 24-26, 2007, San Francisco, USA

REFERENCES
[1] H.Ying, Fuzzy Control & Modeling:Analytical foundations and
applications. New York, IEEE Press, 2000.
[2] J. Xu and X.Feng, “ Design of Adaptive Fuzzy PID tuner using
optimization method, ” Proceedings of the 5th World Congress on
Intelligent Control and Automation, China, 2004, pp. 2454 –2458.
[3] J. Zhang, N. Wang and S. Wang, “A developed method of tuning PID
controllers with fuzzy rules for integrating process,” Proceedings of the
American Control Conference,Boston, 2004, pp. 1109-1114.
[4] K. Astrom and T. Hagglund, PID controllers: Theory, design and tuning.
2nd ed., The Instrumentation, Systems and Automation Society (ISA),
1995.
[5] K.H. Ang, G. Chong and Y. Li, “PID control system analysis, design and
technology,” IEEE transaction on Control System Technology, Vol.13,
No.4, 2005, pp. 559-576.
[6] P. Cominos and N. Munro. “PID controllers: recent tuning methods and
design to specification, ” IEE proceedings,Control Theory and
Applications, 2002, pp. 46-53.
[7] S.Chopra, R.Mitra and V.Kumar, “Fuzzy controller:Choosing an
Fig. 10. Step response with FLC appropriate & smallest rule set, ”International Journal of Computational
The time response parameters percent overshoot (Mp), Cognition, Vol.3, No.4, 2005, pp. 73-78.
[8] S.R.Vaishnav and Z.J.Khan, “Design of PID & Fuzzy logic controller for
settling time (ts) and steady state error (ess) for Ziegler Nichols higher order system,” International Conference on Control & Automation
tuned PID controller (ZNPIDC), fine-tuned PID controller (ICCA'07), Hongkong, China, 2007, pp. 1469-1472.
(FTPIDC) and fuzzy logic controller (FLC) for the higher order [9] Y.Yongquan, H.Ying and Z.Bi, “The dynamic fuzzy method to tune the
weight factors of Neural fuzzy PID controller,” IEEE, 2004, pp.
system are presented in table II. 2397-2402.
[10] Z.Y. Zhao, M. Tomizuka and S. Isaka, “ Fuzzy gain scheduling of PID
TABLE II. TIME RESPONSE PARAMETERS controllers, ” IEEE transactions on Systems, Man and Cybernetics,
Vol.23, No.5, 1993, pp. 1392 -1398.
MP (%) ts(sec) ess
ZNPIDC 71.9 6.33 0
FTPIDC 19.8 5.81 0
FLC 0
VI. 4.75
CONCLUSION 0

VI. CONCLUSION
The paper presented an overview of PID controller, design
of PID controller using Z-N technique and design of fuzzy logic
controller for higher order system. Simulation results using
MATLAB / SIMULINK are discussed for Ziegler Nichols
tuned PID controller, fine tuned PID controller and the Fuzzy
logic controller.
Ziegler Nichols technique gives high overshoot and
settling time with zero steady state error. Initial controller
parameters obtained using Z-N formula need to be adjusted
repeatedly through computer simulation to get satisfactory
performance. Fine tuned PID controller gives zero steady state
error and smaller overshoot and settling time than Ziegler
Nichols tuned PID controller.
The Fuzzy Logic controller gives no overshoot, zero
steady state error and smaller settling time than obtained using
Ziegler Nichols tuned PID controller and fine tuned PID
controller. The simulation results confirms that the proposed
Fuzzy logic controller with simple design approach and smaller
rule base can provide better performance comparing with the
Ziegler Nichols tuned PID controller and fine tuned PID
controller.

ISBN:978-988-98671-6-4 WCECS 2007