A Novel Self-Tuning Fuzzy Logic-Based PID Controllers for Two-Axis Gimbal Stabilization in a Missile Seeker

Table 7

The response of stabilization loops with conventional PID and fuzzy PID type controllers.

Missile rotation	Specification	Elevation axis			Azimuth axis
		Conventional PID	Fuzzy PID WITH 25 rule base	Fuzzy PID WITH 49 rule base	Conventional PID	Fuzzy PID WITH 25 rule base	Fuzzy PID WITH 49 rule base
5 deg/s	Rise time (sec)	0.068	0.2	0.2	0.061	0.18	0.172
	Overshoot (%)	6.2	0	0	8.1	0	0
	Settling time (sec)	2.4	0.33	0.31	0.41	0.23	0.2
	Steady-state error	0.002	0	0	0.0025	0	0
10 deg/s	Rise time (sec)	0.07	0.3	0.29	0.06	0.2	0.2
	Overshoot (%)	8.8	0	0	9.32	0	0
	Settling time (sec)	2.6	0.42	0.42	0.45	0.287	0.282
	Steady-state error	0.0026	0	0	0.003	0	0
15 deg/s	Rise time (sec)	0.1	0.33	0.3	0.0612	0.23	0.22
	Overshoot (%)	12.1	0	0	14.55	0	0
	Settling time (sec)	2.9	0.44	0.4	0.63	0.3	0.29
	Steady-state error	0.11	0	0	0.112	0	0
20 deg/s	Rise time (sec)	0.12	0.35	0.33	0.068	0.29	0.232
	Overshoot (%)	13.2	0	0	15.1	0	0
	Settling time (sec)	3.1	0.47	0.425	0.66	0.39	0.38
	Steady-state error	0.12	0	0	0.12	0	0
25 deg/s	Rise time (sec)	0.16	0.38	0.36	0.08	0.33	0.29
	Overshoot (%)	16.6	0	0	16.8	0	0
	Settling time (sec)	3.6	0.49	0.44	0.73	0.44	0.42
	Steady-state error	0.15	0	0	0.14	0	0
30 deg/s	Rise time (sec)	0.25	0.43	0.38	0.12	0.36	0.34
	Overshoot (%)	20.4	0	0	19.6	0	0
	Settling time (sec)	4.4	0.56	0.51	0.78	0.53	0.49
	Steady-state error	0.22	0	0	0.2	0	0