Fuzzy controller design: recommendations to the user

This paper attempts to analyse and classify different methods of fuzzy control (FC) design. It aims at providing some practical recommendations on how to design a FC and how to choose the right design method. The goal is to develop a more or less systematic procedure of a FC design which can be used as a reference. The design process can be roughly divided into two stages: an initial choice of the controller structures and parameters, and their further adjustment. Recommendations are given at the first stage regarding a choice of the structure, scaling factors, rules and membership functions, though the main attention is focused on the membership functions and scaling factors. Different methodologies, such as neural networks, genetic/evolutionary algorithms, are considered at the second stage.