“…But the fuzzy is a nonlinear control and the output of the controller has the static error (Guo, Zhou, & Cui, 2004). Then fuzzy PID control which combines the traditional PID control and the fuzzy control algorithm may become a solution (Chen, Tung, Tsai, & Fan, 2009;Huang & Shi, 2006;Soyguder, Karakose, & Alli, 2009;Vagelatos, Rigatos, & Tzafestas, 2001). However, the design of fuzzy rules depends largely on the experience of experts or input-output data (Truong, Ahn, Kim, & Yoon, 2007).…”