title: Interval type-2 fuzzy PID controller for uncertain nonlinear inverted pendulum system.
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.
authors.affiliation: Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menofia University, Menof 32852, Egypt. Electronic address: dralbardini@ieee.org.
authors.forename: Mohammad
authors.initials: M
authors.lastname: El-Bardini
authors.affiliation: Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menofia University, Menof 32852, Egypt. Electronic address: Ahmed_elnagar@menofia.edu.eg.
authors.forename: Ahmad M
authors.initials: AM
authors.lastname: El-Nagar
keywords: Fuzzy PID controllers; Interval type-2 fuzzy PID controller; Interval type-2 fuzzy logic system; Inverted pendulum system; Uncertain system