Experiments on using fuzzy clustering for fuzzy control system design

We report the experiments on using fuzzy clustering method for fuzzy control system design. We compare, in the context of the inverted pendulum problem, the "exact" control surface generated by numerical integration and modeled control surface generated by the fuzzy rules of a fuzzy controller. The fuzzy rules are obtained by applying fuzzy clustering to a small random set of learning points from the exact surface. Small difference between the modeled and exact surface, mostly less than 1%, indicates that fuzzy clustering method is capable of capturing the essence of the inherently nonlinear and unstable system using only a small learning set. The fuzzy controller is also tested through numerical simulation. The results indicate that the control system reaches the stable state rapidly without any overshoot, and that it is robust even in the presence of disturbances.