Conventional structure of a simple class of Takagi-Sugeno PI-type controllers

This paper reveals the conventional structure of a class of Takagi-Sugeno fuzzy PI controllers. This conventional representation provides an insight and understanding on how such fuzzy controllers work and alternatively it provides a mean for the implementation of fuzzy controllers by classical control modules. For the process field engineer, the conventional representation might be of great importance for tuning and maintenance purpose of this class of fuzzy PI controllers.