Design and Simulation of a Self-Tuning Fuzzy PID Controller for One Axis bar Model

Proportional—Integral—Derivative (PID) controllers are the most widely used controllers in the industry. Despite having been existent for almost a century, the PID controller still demonstrates its efficiency in various systems. Choosing suitable parameters for the PID controller is a crucial problem that needs a huge bunch of time tuning and testing. There are many methods proposed for the tuning of the PID controller. In this paper, a self-tuning PID controller is obtained using fuzzy logic controllers. The method used here is using fuzzy logic to force the PID controller to follow a preselected position track by changing the parameters of PID controllers as the rules set in advance. This Fuzzy PID is designed, optimized, and implemented on the one-axis bar model in this paper, which is a simple case of a quadcopter. The mathematical model of it is considered and simulated with MATLAB toolboxes Then, the controller is validated on a real model by implementing it in a microcontroller programmed on Arduino IDE. The results have shown that the Fuzzy PID controller performs much better than the classical one, which is evident as a more adaptive, faster response, smaller rise, and settling time.