Control of Non-linear Equation of Submarine Using PI-like Fuzzy Controller

This paper presents a methodology to facilitate the development of a Fuzzy Logic Controller (FLC). The process is done through the use of model rule base, in addition to the adjustment of the membership functions and the universe of discourse related to the system variables. This adjustment is accomplished by refinement rules similar to those used in a classical control technique. In this way, PID control system designers can use their knowledge of parameter tuning to obtain the desired performance in the Fuzzy system. This knowledge allied to the model rule base contributes to decrease the controller development time. Therefore, as an application of the method, a non-linear model of a submarine is used to evaluate the performance of the FLC. A model rule base developed by MacVicar-Whelan and the basic rules of refinement elaborated by Procyk and Mandani are applied for the development of the FLC. The simulations are performed through MATLAB software and the FLC is developed with the Fuzzy Logic Toolbox.