Abstract
The interval type-2 fuzzy logic systems (IT2-FLSs) have been able to model and minimize the numerical and linguistic uncertainties associated with the inputs and the outputs of FLSs. In this study, we propose an embedded real-time interval type-2 fuzzy proportional-derivative plus integral (IT2F-PD+I) controller which is a parallel combination of the interval type-2 fuzzy proportional-derivative (IT2F-PD) controller and the interval type-2 fuzzy integral (IT2F-I) controller. The developed IT2F-PD+I controller is able to handle the effect of the system uncertainties. The proposed IT2F-PD+I controller is implemented using a low-cost PIC microcontroller for controlling the nonlinear uncertain inverted pendulum to minimize the effect of uncertainties due to the uncertainty in the mass of the pendulum, the measurement error in the rotation angle of the pendulum and the structural uncertainty. The test is carried out using hardware-in-the-loop simulation. The experimental results show that the performance of the IT2F-PD+I controller improves significantly over a wide range of system uncertainties.
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