Modified ANFIS, Control, Systems identification, Tuning of PID control- lers. 

This work presents an analysis of different control techniques in the modified ANFIS structure, this method is recent and originated from a change in the ANFIS structure. The method has the capacity to perform identification and control of plants with wide operating range and accentuated non-linearity. The modified ANFIS is divided into two major stages, the first is the identification and the second is the control. In order to perform the identification, it is possible to use any techniques, which may be linear and non-linear techniques. In this work was explored the linear system identification more known in the literature and the least square estimation. For the first, identification, a system of tanks with multisections was chosen as a case study and its identification through the modified ANFIS was performed, showing the qualities of the method. As in the identification stage, the control stage can also use any techniques, but in this work the tuning of PID controllers will be explored, in which the designed controllers will be incorporated into the modified ANFIS structure to obtain a non-linear controller. Then a performance comparison of the modified ANFIS will be performed using the different tuning methods and show a systematic methodology for use the modified ANFIS as global controller.