Design and implementation of a CBR interval type-2 fuzzy controller for stabilizing an inverted pendulum

In this work we develop an interval type-2 fuzzy controller using Concretion Based on Boolean Relations (CBR) for stabilizing an inverted pendulum. We design and implement the controller, then optimize the parameters of the membership functions and the controller constants in order to improve the performance of the controlled system. For comparison purposes, we also design, implement and optimize a type-1 fuzzy controller. Finally, we conclude by stating which controller stabilizes the system more efficiently; such evaluation is made using the integral square error together with the performance of the system.