%Fuzzy Tunning PID Control
clear all;
close all;

a=newfis('fuzzpid');

a=addvar(a,'input','e',[-3,3]);                        %Parameter e
a=addmf(a,'input',1,'NB','zmf',[-3,-1]);
a=addmf(a,'input',1,'NM','trimf',[-3,-2,0]);
a=addmf(a,'input',1,'NS','trimf',[-3,-1,1]);
a=addmf(a,'input',1,'Z','trimf',[-2,0,2]);
a=addmf(a,'input',1,'PS','trimf',[-1,1,3]);
a=addmf(a,'input',1,'PM','trimf',[0,2,3]);
a=addmf(a,'input',1,'PB','smf',[1,3]);

a=addvar(a,'input','ec',[-3,3]);                       %Parameter ec
a=addmf(a,'input',2,'NB','zmf',[-3,-1]);
a=addmf(a,'input',2,'NM','trimf',[-3,-2,0]);
a=addmf(a,'input',2,'NS','trimf',[-3,-1,1]);
a=addmf(a,'input',2,'Z','trimf',[-2,0,2]);
a=addmf(a,'input',2,'PS','trimf',[-1,1,3]);
a=addmf(a,'input',2,'PM','trimf',[0,2,3]);
a=addmf(a,'input',2,'PB','smf',[1,3]);

a=addvar(a,'output','kp',[-0.3,0.3]);                   %Parameter kp
a=addmf(a,'output',1,'NB','zmf',[-0.3,-0.1]);
a=addmf(a,'output',1,'NM','trimf',[-0.3,-0.2,0]);
a=addmf(a,'output',1,'NS','trimf',[-0.3,-0.1,0.1]);
a=addmf(a,'output',1,'Z','trimf',[-0.2,0,0.2]);
a=addmf(a,'output',1,'PS','trimf',[-0.1,0.1,0.3]);
a=addmf(a,'output',1,'PM','trimf',[0,0.2,0.3]);
a=addmf(a,'output',1,'PB','smf',[0.1,0.3]);

a=addvar(a,'output','ki',[-0.06,0.06]);                 %Parameter ki
a=addmf(a,'output',2,'NB','zmf',[-0.06,-0.02]);
a=addmf(a,'output',2,'NM','trimf',[-0.06,-0.04,0]);
a=addmf(a,'output',2,'NS','trimf',[-0.06,-0.02,0.02]);
a=addmf(a,'output',2,'Z','trimf',[-0.04,0,0.04]);
a=addmf(a,'output',2,'PS','trimf',[-0.02,0.02,0.06]);
a=addmf(a,'output',2,'PM','trimf',[0,0.04,0.06]);
a=addmf(a,'output',2,'PB','smf',[0.02,0.06]);

a=addvar(a,'output','kd',[-3,3]);                       %Parameter kp
a=addmf(a,'output',3,'NB','zmf',[-3,-1]);
a=addmf(a,'output',3,'NM','trimf',[-3,-2,0]);
a=addmf(a,'output',3,'NS','trimf',[-3,-1,1]);
a=addmf(a,'output',3,'Z','trimf',[-2,0,2]);
a=addmf(a,'output',3,'PS','trimf',[-1,1,3]);
a=addmf(a,'output',3,'PM','trimf',[0,2,3]);
a=addmf(a,'output',3,'PB','smf',[1,3]);

rulelist=[1 1 7 1 5 1 1;
    1 2 7 1 3 1 1;
    1 3 6 2 1 1 1;
    1 4 6 2 1 1 1;
    1 5 5 3 1 1 1;
    1 6 4 4 2 1 1;
    1 7 4 4 5 1 1;
    
    2 1 7 1 5 1 1;
    2 2 7 1 3 1 1;
    2 3 6 2 1 1 1;
    2 4 5 3 2 1 1;
    2 5 5 3 2 1 1;
    2 6 4 4 3 1 1;
    2 7 3 4 4 1 1;
    
    3 1 6 1 4 1 1;
    3 2 6 2 3 1 1;
    3 3 6 3 2 1 1;
    3 4 5 3 2 1 1;
    3 5 4 4 3 1 1;
    3 6 3 5 3 1 1;
    3 7 3 5 4 1 1;
    
    4 1 6 2 4 1 1;
    4 2 6 2 3 1 1;
    4 3 5 3 3 1 1;
    4 4 4 4 3 1 1;
    4 5 3 5 3 1 1;
    4 6 2 6 3 1 1;
    4 7 2 6 4 1 1;
    
    5 1 5 2 4 1 1;
    5 2 5 3 4 1 1;
    5 3 4 4 4 1 1;
    5 4 3 5 4 1 1;
    5 5 3 5 4 1 1;
    5 6 2 6 4 1 1;
    5 7 2 7 4 1 1;
    
    6 1 5 4 7 1 1;
    6 2 4 4 5 1 1;
    6 3 3 5 5 1 1;
    6 4 2 5 5 1 1;
    6 5 2 6 5 1 1;
    6 6 2 7 5 1 1; 
    6 7 1 7 7 1 1;
    
    7 1 4 4 7 1 1; 
    7 2 4 4 6 1 1;
    7 3 2 5 6 1 1;
    7 4 2 6 6 1 1;
    7 5 2 6 5 1 1;
    7 6 1 7 5 1 1;
    7 7 1 7 7 1 1];

a=addrule(a,rulelist);
a=setfis(a,'DefuzzMethod','centroid');
writefis(a,'fuzzpid');

a=readfis('fuzzpid');

%PID Controller
ts=0.001;
sys=tf(5.235e005,[1,87.35,1.047e004,0]);
dsys=c2d(sys,ts,'tustin');
[num,den]=tfdata(dsys,'v');

u_1=0.0;u_2=0.0;u_3=0.0;

y_1=0;y_2=0;y_3=0;

x=[0,0,0]';

error_1=0;
e_1=0.0;
ec_1=0.0;

kp0=0.40;
kd0=1.0;
ki0=0.0;

for k=1:1:500
    time(k)=k*ts;
    
    rin(k)=1;
    %Using fuzzy inference to tunning PID
    k_pid=evalfis([e_1,ec_1],a);
    kp(k)=kp0+k_pid(1);
    ki(k)=ki0+k_pid(2);
    kd(k)=kd0+k_pid(3);
    u(k)=kp(k)*x(1)+kd(k)*x(2)+ki(k)*x(3);
    
    if k==300     % Adding disturbance(1.0v at time 0.3s)
        u(k)=u(k)+1.0;
    end
    if u(k)>=10
        u(k)=10;
    end
    if u(k)<=-10
        u(k)=-10;
    end
    
    yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(1)*u(k)+num(2)*u_1+num(3)*u_2+num(4)*u_3;
    error(k)=rin(k)-yout(k);
    %%%%%%%%%%%%%%Return of PID parameters%%%%%%%%%%%%%%%
    u_3=u_2;
    u_2=u_1;
    u_1=u(k);
    
    y_3=y_2;
    y_2=y_1;
    y_1=yout(k);
    
    x(1)=error(k);                % Calculating P
    x(2)=error(k)-error_1;        % Calculating D
    x(3)=x(3)+error(k);           % Calculating I
    
    e_1=x(1);
    ec_1=x(2);
    
    error_2=error_1;
    error_1=error(k);
end


showrule(a)
figure(1);plot(time,rin,'b',time,yout,'r');
xlabel('time(s)');ylabel('rin,yout');
figure(2);plot(time,error,'r');
xlabel('time(s)');ylabel('error');
figure(3);plot(time,u,'r');
xlabel('time(s)');ylabel('u');
figure(4);plot(time,kp,'r');
xlabel('time(s)');ylabel('kp');
figure(5);plot(time,ki,'r');
xlabel('time(s)');ylabel('ki');
figure(6);plot(time,kd,'r');
xlabel('time(s)');ylabel('kd');
figure(7);plotmf(a,'input',1);
figure(8);plotmf(a,'input',2);
figure(9);plotmf(a,'output',1);
figure(10);plotmf(a,'output',2);
figure(11);plotmf(a,'output',3);
plotfis(a);
fuzzy fuzzpid