Fuzzy PID tuning improvement validated in hardware in the loop non linear level process

PID controllers are widely used in the industrial sector due to their good performance and ease of parameter tuning on industrial platforms. However, the temporal performance degradation in non-linear systems that require changes in the setpoint is a notorious drawback. This article proposes an implementation and tuning methodology for a fuzzy controller in a PLC, modifying the scaling factors through a parameter obtained in closed loop. Tests are carried out in an HIL scheme, simulating a non-linear Level system and the online controller in PLC. Using IAE and ITAE performance indexes, a better behavior in reference tracking and disturbance rejection of the fuzzy controller is observed.