This paper proposes a nonlinear fuzzy PID control algorithm, whose membership function (MF) is adjustable, is universal, and has a wide adjustable range. Appling this function to fuzzy control theory will increase system’s tunability. The continuity of this function is proved. This method was employed in the simulation and HIL experiments. Effectiveness and feasibility of this function are demonstrated in the results.
"Application of a New Membership Function in Nonlinear Fuzzy PID Controllers with Variable Gains." J. Appl. Math. 2014 1 - 7, 2014. https://doi.org/10.1155/2014/482489