说明：  a gain-adjusted fuzzy PI/PD (GFPIPD) adaptive controller is proposed. The proposed controller first constructs fuzzy rules for fuzzy PD/PI controller with the fixed weighting. Then the fuzzy rules, which self-learning their parameters for a desired condition, are learned through the accumulated GA. Finally, fuzzy gain-adjusted mechanism is further learned through the accumulated GA for the variations of a measured system dynamics. The proposed GFPIPD controller is tested by the high order systems with time delay and variable system dynamics. The experimental results illustrate the performance of the proposed method.