Contents I. Introduction
PID controller has been utilized in control engineering fields since 1940, and it is approximately 90% of the control mechanism adopted this controller [1] . The idea of PID controller has been implemented anywhere such as transportation, process plant, production, and manufacturing. The conventional tuning method still remains its popularity because of the simple implementation and one of the examples is Ziegler Nicholas (Z-N) tuning method [2] . Besides that, intelligent tuning control such as neural fuzzy [3] has also been applied in the tuning process. Fuzzy PID controller is proved that it can adapt well in nonlinear complicated process under high uncertainty of noise and different parameters [3 , 4] . Moreover, neural network PID controller is more practical and have a robust result than the conventional PID controller [5] .
