Table 7: Experimental results of type-2 fuzzy controllers.

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

Step Response
FIM0.01.02.5
Mamdani0.02.44.7
FIM35.01.05.0
Mamdani35.02.65.5

Ramp response
FIM0.03.8
Mamdani0.03.7
FIM35.09.1
Mamdani35.012.1