Design of gradient descent based self-organizing fuzzy logic controller with dual outputs

A new self-organizing fuzzy logic controller based on the gradient-descent method is presented. To implement the proposed algorithm, a new performance function is defined and analyzed by representing the gradient vector field. From this analysis, we propose the gradient-descent based algorithm with performance measure that can ensure a generalized performance decision table. To verify the performance of the proposed controller, we simulated it on the pendulum system driven with a DC-servo motor.