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Two- and Three-Input Fuzzy PID Controller Structure of Takagi-Sugeno Type

In this paper, we analyze and present a general structure of fuzzy PID controller of Takagi-Sugeno (TS) type having two and three inputs. We show that while three-input fuzzy PID controller gains have an one-to-one relation with the conventional controller gains, this relationship is not directly evident in the case of two-input fuzzy PID controllers. The tuning of input/output scaling parameters of the presented fuzzy PID controllers is addressed based on the structure of conventional PID controllers.