Interval type-2 fuzzy PID controller for uncertain nonlinear inverted pendulum system |
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Authors: | Mohammad El-Bardini Ahmad M. El-Nagar |
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Affiliation: | Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menofia University, Menof 32852, Egypt |
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Abstract: | In this paper, the interval type-2 fuzzy proportional–integral–derivative controller (IT2F-PID) is proposed for controlling an inverted pendulum on a cart system with an uncertain model. The proposed controller is designed using a new method of type-reduction that we have proposed, which is called the simplified type-reduction method. The proposed IT2F-PID controller is able to handle the effect of structure uncertainties due to the structure of the interval type-2 fuzzy logic system (IT2-FLS). The results of the proposed IT2F-PID controller using a new method of type-reduction are compared with the other proposed IT2F-PID controller using the uncertainty bound method and the type-1 fuzzy PID controller (T1F-PID). The simulation and practical results show that the performance of the proposed controller is significantly improved compared with the T1F-PID controller. |
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Keywords: | Fuzzy PID controllers Interval type-2 fuzzy logic system Interval type-2 fuzzy PID controller Inverted pendulum system Uncertain system |
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