How to design the switch mechanism for Hybrid fuzzy PID controller

Hi, I'm trying to implement a smart switch mechanism that could switch between a Fuzzy and PID controller, the main idea is that I want to get all the advantages of both controllers and implement them in Hybrid controller. The scheme assembled in MATLAB:

I really don't know how should I implement the smart switch part, anybody have any tips or ideas? Thanks in advice

The PID cotroller block:

Answer 1

[Sam Chak]

Hi @Andrei Mihai

You can use the concept of the Takagi–Sugeno (T–S) fuzzy system. Unfortunately, as of R2024b, the Fuzzy Logic Designer app is still limited to zeroth-order and first-order conclusions. Therefore, it is necessary to manually write code for such a T–S fuzzy logic-based hybrid controller. To maintain the simplicity of the switch mechanism, the hybrid control law is expressed like the equation of Defuzzification:

where both the Conditions are purely straight lines as shown below.

%% Fuzzy System
fis = mamfis;

% Fuzzy Input (State of Condition)
fis = addInput(fis, [0 1], 'Name', 'State');
fis = addMF(fis, 'State', 'linzmf', [0 1], 'Name', 'Condition 1');
fis = addMF(fis, 'State', 'linsmf', [0 1], 'Name', 'Condition 2');

plotmf(fis, 'input',  1, 201), grid on, 
xlabel('State, s'), title('Input state fuzzy sets')