The development of a systematic design procedure has been of interest since the introduction of fuzzy logic controllers (FLCs). As the dimensions of the system's input and output spaces become larger, the design problem becomes exponentially more difficult. Partitioning the input space into smaller, more manageable regions simplifies the design procedure. The problem then becomes one of integrating the regional controllers designed for each input space partition. This article demonstrates a systematic and hierarchical approach to the design of a hybrid fuzzy-PID controller through the application of a learning-based algorithm. The proposed method is applied to a two-link robotic arm. Favorable simulation results are obtained when comparing our approach to fixed PID Control and Variable Structure Control.
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