DOI: 10.11118/ecos2026_009

ROBUSTNESS OF A FUZZY CONTROLLER VERSUS CLASSICAL PID CONTROL ON TYPICAL PLANTS

Marek Hebelka¹, Radim Farana²

¹ Department of Economics, Faculty of Business and Economics, Mendel University in Brno, Zemědělská 1, 613 00 Brno, Czech Republic

² Department of Informatics, Faculty of Business and Economics, Mendel University in Brno, Zemědělská 1, 613 00 Brno, Czech Republic

This article deals with the robustness comparison of a Mamdani-type fuzzy controller and a classical PID controller on four typical controlled systems: proportional non-oscillatory, proportional oscillatory, proportional with transport delay, and integrating with inertia. The work responds to the lack of systematic comparison of both controller types under disturbances and parameter changes. Measurements were performed in MATLAB Simulink; PID was tuned automatically by the PID Tuner, the fuzzy controller manually by the Mamdani method with a simplified 3×3 rule base. Robustness was assessed for a position step of 10–40% and time-constant changes of 0–20%. Control quality was quantified by the IAE and ITAE summation criteria. For three of the four systems, the fuzzy controller was one to two orders of magnitude better in ITAE; for the system with transport delay, the PID was conversely two orders of magnitude better.

Klíčová slova: fuzzy controller, PID, robustness, Mamdani, ITAE, transport delay

stránky: 10-10, online: 2026