Abstract
This paper presents a simple approach to the mathematical modelling of the Integer Order (IO) and Fractional Order (FO) Interval Type-2 Fuzzy Proportional Integral Derivative (IT2FPID) controllers. In this approach, the control effort produced by the IT2FPID controller is obtained by combining the individual control efforts generated by the Interval Type-2 Fuzzy Proportional (IT2FP), Interval Type-2 Fuzzy Integral (IT2FI), and Interval Type-2 Fuzzy Derivative (IT2FD) controllers. The analytical structures of each of the IT2FPID components are unveiled using one-dimensional (1D) input space and without using any AND or OR operator. To the best of the authors’ knowledge, such a strategy was never used and is completely new for the modelling of the IT2FPID controllers. Properties, computational issues, and design guidelines of the newly obtained controllers are discussed, and their applicability is delineated using five simulation examples and one experimental case study. A chemical reactor plant, two fractional order plants, a nonlinear plant, and a Twin Rotor Multi Input Multi Output System (TRMS) are considered in the simulation study. The experimental study is conducted on an unstable nonlinear Magnetic Levitation System (MLS). Moreover, to exhibit the usefulness of the newly derived controllers, simulation and real-time results are also compared with the existing results available in the literature. As the proposed controllers are plant model-free, they can be used for other control applications also.
Published Version
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