The parameter of the controller can be auto-adjusted by the error, error change and the integral value. It makes the fuzzy controller have the ability of self-adaptive.

The simulation results prove that the neural network controller has self-learning and self-adaptive ability by comparison with PD controller. The position tracking control obtains satisfactory effect.

Based on the feature of the nc system and its performance demands, this paper brings forward a self-adaptive fuzzy PID controller to realize PID parameters self-adaptive online.