Multivariable self-tuning PID controller based on wavelet fuzzy neural networks

This paper presents a multivariable self-tuning proportional-integral-derivative (PID) controller based on wavelet fuzzy neural networks (WFNNs) for a class of nonlinear systems. A mathematic model using WFNN is constructed for the controlled nonlinear multivariable system, and the self-tuning PID controller is derived via a generalized predictive performance criterion. Numerical simulations exhibit that the proposed multivariable self-tuning PID control law gives satisfactory tracking and disturbance rejection performances.