Abstract
This paper presents modifications of the classical PID control algorithm, implemented by an Adaptive Neuro-Fuzzy Architecture (ANFA). The main goal here is to design a fuzzy PID controller with a flexible structure, adaptive tuning of its parameters and algorithm modifications, which leads to improvement of the system performance. Thus the controlling process and system are prevented from the undesired and non expected changes of the system input signals. The antecedent part of the applied fuzzy rules contains a linear function, similar to the modified discrete equation of the corresponding conventional PID controller. The simulations demonstrate satisfactory results of these performances and implementations applied to a nonlinear plant.