Hossein Chehardoli - Department of Mechanical Engineering, Ayatollah Boroujerdi University Boroujerd, Iran

This paper deals with fuzzy-PID gain scheduling control of switched linear systems with input delay. Since, designing a model-based controller for switched systems has special difficulties, in this paper, the non-model-based controller fuzzy-PID gain scheduling is introduced to perform the stability analysis and control design of switched linear systems. The actuator delay is an inherent characteristic of many mechanical devices. Therefore, the actuator lag is considered in system modelling and control design. Fuzzyrules and reasoning are employed online to calculate the PID gains , p d kk and i k based on the error signal and its first derivative. The Ziegler-Nichols method is used to set the initial values of PID control gains. Simulation results are presented to show the effectiveness of the proposed approach. It will be shown that this controller significantly has a better performance compared with the conventional PID controller with fixed parameters.

Switched linear systems; Input delay; Fuzzy-PID controller; Gain scheduling; Switching signal.