Robust evolving controller for simulated surge tank and for real two-tank plant

Abstract

Abstract This paper presents a robust evolving cloud-based controller named RECCo. The controller has an evolving fuzzy structure and the rules are represented by data clouds. The evolving part of the algorithm allows adding of new rules (clouds) and moreover, the robust adaptive law using the steepest (gradient) descent method adapts the PID-R parameters of each cloud. There are also some protective mechanisms introduced which improve the robustness of the algorithm. The effectiveness of the controller was tested on the simulated surge tank model and on the real two tank plant. Both plants have quite similar structure but they have different nonlinear dynamics. Using the same initializing procedure the RECCo controller efficiently control both plants.