2. Fuzzy controller synthesis and tuning

While in the first paragraph we focused on theoretical definitions and elements for implementing fuzzy systems, in this paragraph we will first present a set of rules of thumb for choosing the input variables, normalization and denormalization factors, fuzzification membership functions for inputs and outputs, inference engine and defuzzification method for the fuzzy controller.

The second point will deal with the most common structures for proportional, integral and derivative PID fuzzy controllers, which we call : PI-Flou, PD-Flou and PID-Flou [19] . We have extended and deepened the study of the fuzzy controller with parallel integrator presented in [R 7 428] by J.-P. Barrat, M. Barrat and Y. Lécluse