Fuzzy_pid.zip

function [kp] = Fuzzy_KP(e,ec) num=0; eRule=[-8,-5,-2,0,2,5,8]; ecRule=[-8,-5,-2,0,2,5,8]; eFuzzy=[0.0,0.0]; ecFuzzy=[0.0,0.0]; kpRule=[50,100,300,500]; KpFuzzy=[0.0,0.0,0.0,0.0]; KpRule=[3,3,3,3,3,3,3; 2,2,2,2,1,2,2; 1,1,1,1,1,1,1; 1,1,0,1,0,1,1; 0,0,1,0,0,1,0; 0,1,0,1,0,0,2; 3,3,3,3,3,3,3]; if ( e<eRule(1)) eFuzzy(1)=1.0; pe=1; elseif (eRule(1)<=e&&e<eRule(2)) eFuzzy(1)=(e-eRule(1))/(eRule(2)-eRule(1)); pe=1; elseif(eRule(2)<=e&&e<eRule(3)) eFuzzy(1)=(e-eRule(2))/(eRule(3)-eRule(2)); pe=2; elseif(eRule(3)<=e&&e<eRule(4)) eFuzzy(1)=(e-eRule(3))/(eRule(4)-eRule(3)); pe=3; elseif(eRule(4)<=e&&e<eRule(5)) eFuzzy(1)=(e-eRule(4))/(eRule(5)-eRule(4)); pe=4; elseif(eRule(5)<=e&&e<eRule(6)) eFuzzy(1)=(e-eRule(5))/(eRule(6)-eRule(5)); pe=5; elseif(eRule(6)<=e&&e<eRule(7)) eFuzzy(1)=(e-eRule(6))/(eRule(7)-eRule(6)); pe=6; else eFuzzy(1)=0.0; pe=6; end eFuzzy(2)=1-eFuzzy(1); if (ec<ecRule(1)) ecFuzzy(1)=1.0; pec=1; elseif (ecRule(1)<=ec&&ec<ecRule(2)) ecFuzzy(1)=(ec-ecRule(1))/(ecRule(2)-ecRule(1)); pec=1; elseif (ecRule(2)<=ec&&ec<ecRule(3)) ecFuzzy(1)=(ec-ecRule(1))/(ecRule(2)-ecRule(1)); pec=2; elseif (ecRule(3)<=ec&&ec<ecRule(4)) ecFuzzy(1)=(ec-ecRule(3))/(ecRule(4)-ecRule(3)); pec=3; elseif (ecRule(4)<=ec&&ec<ecRule(5)) ecFuzzy(1)=(ec-ecRule(4))/(ecRule(5)-ecRule(4)); pec=4; elseif (ecRule(5)<=ec&&ec<ecRule(6)) ecFuzzy(1)=(ec-ecRule(5))/(ecRule(6)-ecRule(5)); pec=5; elseif (ecRule(6)<=ec&&ec<ecRule(7)) ecFuzzy(1)=(ec-ecRule(6))/(ecRule(7)-ecRule(6)); pec=6; else ecFuzzy(1)=0; pec=6; end ecFuzzy(2)=1.0-ecFuzzy(1); num=KpRule(pe,pec)+1; KpFuzzy(num)=KpFuzzy(num)+eFuzzy(1)*ecFuzzy(1); num=KpRule(pe,pec+1)+1; KpFuzzy(num)=KpFuzzy(num)+eFuzzy(1)*ecFuzzy(2); num=KpRule(pe+1,pec)+1; KpFuzzy(num)=KpFuzzy(num)+eFuzzy(2)*ecFuzzy(1); num=KpRule(pe+1,pec+1)+1; KpFuzzy(num)=KpFuzzy(num)+eFuzzy(2)*ecFuzzy(2); kp=KpFuzzy(1)*kpRule(1)+KpFuzzy(2)*kpRule(2)+KpFuzzy(3)*kpRule(3)+KpFuzzy(4)*kpRule(4); end