A PI type self-tuning fuzzy controller with receding horizon optimization

This work presented a PI type fuzzy controller considering the error and the change rate of error. Based on this structure, we work out a method to tune the parameters of the PI type fuzzy controller online. In order to improve further the performance of the fuzzy controller, the optimization control supervised the under level controller by minimizing a generalized predictive control criterion. A simple and sufficient bound condition of input and output variable is achieved under the Lyapunov theory through the brief analysis. Simulation results are made to demonstrate the fine performance of these novel fuzzy controller structures.