  Proportional-integral-derivative (PID) structured controller is the most
popular class of industrial control but still could not be appropriately
exploited in fuzzy systems. To gain the practicability and tractability of
fuzzy systems, this paper develops a parameterized bilinear matrix inequality
characterization for the ${\cal H}_{\infty}$ fuzzy PID control design, which is
then relaxed into a bilinear matrix inequality optimization problem of
nonconvex optimization. Several computational procedures are then developed for
its solution. The merit of the developed algorithms is shown through the
benchmark examples.
