1. A self-organizing control system for optimization of a knowledge base, comprising: a fuzzy neural network configured to develop a knowledge base for a fuzzy controller; a genetic analyzer configured to develop a teaching signal for said fuzzy-logic classifier, said teaching signal configured to provide a desired set of control qualities, said genetic analyzer using chromosomes, a portion of said chromosomes being step coded; and a PID controller with discrete constraints, said PID controller configured to receive a gain schedule from said fuzzy controller.