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An approach for the robustness comparison between piecewise
PID-like fuzzy and classical PIDcontrollers
linear

Published online: 20 April 2004 Springer-Verlag 2004
Abstract The comparison of the stability robustness
between the classical PID controller and two piecewise
linear PID-like fuzzy controllers to the variations of the
parameters in the second order plant is provided in this
paper. The definition of a stability robust controller (to
the parameter variations of the plant model) is pre-
sented. Then Kharitonov’s theorem is applied to find the
regions of robustness to the parameter variations for the
control systems with di?erent controllers. Based on the
size of regions of robustness, the relative robustness
factor is defined, and the robustness comparison is
provided. For every classical PID controller with gain
coe?cients determined and fixed, it is shown that we can
always design the pi

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