%Fuzzy Tunning PID Control 
clear all; 
close all; 
a=newfis('fuzzpud');                        %創建新的模糊推理系統（FIS） 
a=addvar(a,'input','e',[-3,3]);            %Parameter e   向模糊推理系統添加語言變量 
a=addmf(a,'input',1,'NB','zmf',[-3,-1]);       % 向模糊推理系統的語言變量添加隸屬度函數，zmf指z-型 隸屬度函數,trimf指三角形隸屬度函數 
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',[0.021,0.06]); 
 
a=addvar(a,'output','kd',[-3,3]);            %Parameter Kd 
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;               %rulelist是一個矩陣,每一行為一條規則,他們之間是ALSO的關系 
          1 2 7 1 3 1 1;               %假定該FIS有N個輸入和M個書櫥，則每行有N+M+2個元素，前N個數分別表示N個輸入變量的某一個語言名稱的index 
          1 3 6 2 1 1 1;               %沒有的話用0表示，后面兩個分別表示該條規則的權重和各條件的關系，1表示AND，2表示OR 
          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);                  %向模糊推理系統（FIS）的語言變量添加規則 
 a=setfis(a,'DefuzzMethod','centroid');   %得到模糊系統的屬性 
 writefis(a,'fuzzpid');                    % 保存FIS到磁盤上 
  
 a=readfis('fuzzpid');                     % 從磁盤裝入一個FIS  
  
 %PID Controller 
 ts=0.001;                                %采樣時間 
 num=[523500]; 
 den=[1,87.35,10470,0]; 
 sys=tf(num,den); 
 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;            %輸入信號為階躍信號 
     %Using fuzzy inference to tunning PID 
     k_pid=evalfis([e_1,ec_1],a);                   %給定輸入，得到輸出，即進行模糊推理 
     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