An improvement of computational verb PID controllers

In this paper an improved algorithm of computational verb PID controller is proposed. In the original design of verb PID controller, the modification of integral gain is coupled with that of the derivative gain. In this paper, the integral gain is modified independently by using a separated set of computational verb rules. The comparisons of tracking performance and robustness among conventional PID controllers, fuzzy PID controllers, verb PID controllers and the proposed verb PID controllers are presented. The simulation results show that the improved verb PID controller is better than other three kinds of PID controller with respect to tracking performances.