Table 6: Experimental results of type-1 fuzzy controllers.

Fuzzy controllerNoise (%)Rise time (s)Steady-state
error (°)

Step Response
FIM0.01.02.5
Mamdani0.02.04.7
FIM35.01.15.8
Mamdani35.02.55.5

Ramp response
FIM0.03.6
Mamdani0.06.7
FIM35.011.0
Mamdani35.012.3