Genetic Algorithm and Particle Swarm Optimization Based Cascade Interval Type 2 Fuzzy PD Controller for Rotary Inverted Pendulum System

Table 4

Best results of the cascade IT2FL-PDC for RIP system obtained by GA and PSO in 60 runs.

Optimization method	(deg)	Condition for disturbances	(%)		(s)	(s)	(J)	Cost
GA	0	No disturbances	27.7	0.0009	1.46	0.0089	18.375	18.210
		With disturbances	30.8	0.0021	1.69	0.0086	18.973	19.531
	180	No disturbances	28.4	0.0018	1.52	0.0086	21.485	19.997
		With disturbances	32.8	0.0028	2.83	0.0089	22.032	21.903
PSO	0	No disturbances	21.4	0.0029	1.31	0.0088	17.094	15.551
		With disturbances	24.6	0.0035	1.52	0.0090	19.759	17.934
	180	No disturbances	22.1	0.0081	1.39	0.0086	18.981	16.732
		With disturbances	26.9	0.0099	2.34	0.0089	20.995	19.431