System with hybrid fuzzy-conventional PID controller

In the paper seven controllers are compared: conventional PID, fuzzy PID, two hybrid fuzzy-conventional, two hierarchic, and adaptive. The hybrid controller uses both signals: output signal of conventional and output signal of fuzzy controller. The first one adds to signals, the second multiply two signals. Sometimes, this solution can be applied, where in the system one have a classic controller, and he look for better control possibility or he use fuzzy microcontroller of "dual logic" type. New concept of adaptive switching controller is introduced.