Generalized Flowchart

start Measure the i/p

variables
Fuzzification

Decision making Frame the rules

Defuzzification logic with KB

NO
Compare
PID with Stop
FLC
Ye
s
Flowchart for FLC design suing optimal
PID

Model AHS as a Design an

Start I order system optimal
PID

Measure
Redesign Design FLC e(t), ie(t)

NO
Compare
FLC
with PID
Stop
YES
 Design of FLC for Air heating process
 Design of conventional PID controller
 Conduct the open loop studies
 Conduct closed loop studies
 Repeat PID in discrete form
 Obtain the variation of error & integral
error
 Fuzzification
 Rule base
 Decision making logic
 Defuzzification

 Step1: Design of PID controller
 Create a model of AHS
 Give the step i/p and get the open loop
response
 G(s)=Kpe-Ds/(1+sζ )
 Obtain the optimal values of Kp, ζ and
D using Ziegler Nichol’s tuning
 e(t) = c(t) – r(t)
 ie(t) = en-1 (t) + en(t)

 m(t) = Kce(t)+Kc/ζ i∫e(t) dt +

Kcζ Dde(t)/dt+mo(t)-discrete
i/p i/p

t t

OPEN LOOP CLOSED LOOP

RESPONSE RESPONSE
 1 52

e(t) ie(t)t
18
-0.2

t t

Variation of Variation of integral

error error
40

m(t)

t
Variation of manipulated
variable
 Step2: Fuzzification
 e(t) = 1-(-0.2)/2
 = 0.6

 Ie(t) = 52-18/2
 = 17

 MV = 40-0/2
 = 20
 ERROR INTEGRAL MANIPULATED
ERROR VARIABLE
e(t)=-0.2 to 1 ie(t)=18 to 52 Mv=0 to 40

MN=-∞ to 0.1 VS=-∞ to 26 VS=-∞ to 10

N=-0.2 to 0.4 S=18 to 35 S=0 to 20

Z=0.1 to 0.7 M=26 to 43 M = 10 to 30

P=0.4 to 1 L=35 to 52 L=20 to 40

MP=0.7 to 1.6 VL= 46 to ∞ VL=30 to +∞

M N Z P MP
N

e(t)

VS S M L VL

RULE
ie(t) BASE
VS S M L VL

m(t)
 Step3: DECESION MAKING
LOGIC
 EXAMPLE
 If e(t)=0.4, if ie(t)=0.2 them m(t)
is VL
 If e(t)=0.5, if ie(t)=0.9 them m(t)
is VL
 MIN-MAX criteria
 MIN{e(t)=0.4, ie(t)=0.2}=0.2
 MIN{e(t)=0.5, ie(t)=0.9}=0.5
 Max{0.2, 0.5} = 0.5
 Therefore MV=0.5
 Step4: DEFUZZIFICATION
 Centreof Area method – provides
smooth control action
 μ=Σμ(wj)(wj)/Σμ(wj)
 j=1 to n where n denotes no.of
linguistic variables
 wj denotes the support value

 μ(wj)
denotes the value of
membership grade
 Drawbacks of conventional
FLC
 Tedious to find the universe of
discourse ‘y’ for every support ‘x’
 y=[x-x1/x2-x1][y2-y1]+y1 = y

x
 Fortuning – change the width of
membership function with the top
held constant