Optimization of Inverted Pendulum Control Parameters Using Type-۱ and Type-۲ Fuzzy Logic

This paper presents a comparative study on the optimization of control parameters for an inverted pendulum system using Type-۱ and Interval Type-۲ Fuzzy Logic Controllers (FLCs). The performance of both controllers is evaluated through simulation in terms of pendulum angle response, control surface characteristics, and key integral error metrics. Results demonstrate that the Type-۲ FLC significantly outperforms the Type-۱ controller, providing superior stability, reduced overshoot, and faster settling time. This improvement is attributed to the inherent ability of Type-۲ fuzzy systems to handle uncertainties more effectively, as visualized in their smoother control surfaces. Quantitative analysis using IAE, ISE, and ITAE metrics confirms the enhanced performance of the Type-۲ controller, making it a more robust and efficient solution for nonlinear control applications such as the inverted pendulum.

کلیدواژه ها:

Inverted Pendulum ، Fuzzy Logic Control ، Type-۲ Fuzzy Systems ، Optimization ، Control Parameters ، Uncertainty Handling ، Performance Metrics ، Nonlinear Control