Abstract: The purposes of this paper are two folds. The first purpose is to improve system performance of PID environment system by incorporating a fuzzy high-level controller. The second is to present an online genetic algorithm for learning the parameters of the fuzzy controller. The case study is employed to a nonlinear process consisting of three input variables, three output variables, and four disturbance variables. From the simulation it is shown that the output performance can be improved while maintaining the robustness
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