An Embedded Type-2 Fuzzy Processor For The Inverted Pendulum Control Problem

This paper presents some methodological aspects for implementing an interval type-2 fuzzy logic processor over a low cost microcontroller. A detailed description of the computational model of the processor is provided. Particular emphasis is given to the type reduction stage. The implementation of the processor is characterized in functional terms and validated over the inverted pendulum control problem by using hardware emulation. Results show that the processor exhibits an inference speed that guarantees its real-time operation on this application.Moreover, control performance results are better for the processor regarding a conventional type-1 fuzzy controller.