Analysis of Self Tuning Fuzzy PID Internal Model Control

In this paper internal model control and fuzzy self-tuning PID controller is combined into a whole controller which make up a new controller fuzzy self-tuning PID internal model controller. First the internal model control system can be changed into conventional PID unity feedback control system through introducing pade series to approximate the time delay unit. Then using fuzzy inference to tune the PID parameters online, the fuzzy self tuning PID internal model controller is realized. This controller combines the advantage of fuzzy control, internal model control and PID control.