Liquid Flow Control Design Based on PID-Fuzzy Controller with anti-Windup Compensator

In the liquid flow control systems, the existing of actuator saturation makes the system response degraded so that it requires repeated tuning of the controller. This paper aims to design a PID-Fuzzy controller in a liquid flow control system to overcome the actuator saturation by including an anti-windup compensator. The PID controller constants will automatically self-tuning using fuzzy logic and the generated control signal will be limited using anti-windup. Self-tuning of PID constants is designed using the fuzzy logic Mamdani method with the inputs are error value and its change. The fuzzy rule base for determining PID constants is designed based on the characteristic of each constant in improving dynamic response. The control signal is then recalculated using a back-calculation constant in anti-windup compensator if it exceeds the maximum control signal limit. The simulation results using three scenarios of the controller, which are PID-Fuzzy linear, PID-Fuzzy with saturation, and PID-Fuzzy with anti-windup, indicate that the PID-Fuzzy with anti-windup compensator is capable of producing the best response with control signal not exceeding the maximum limit.