C++ library for fuzzy type-2 controller design with particle swarm optimization tuning

In this article a C++ library for fuzzy type-2 controller with particle swarm optimization tuning is proposed. The main objective of this library is to provide a tool for researchers, professors and students in the automatic control field to design fuzzy type-2 controllers for nonlinear systems. This library contains functions for standard fuzzy type-2 controllers and PID fuzzy type-2 controllers and their variations (PI and PD) with a main class that defines the fuzzy type-2 membership functions shapes and operations along with the ordinary differential equations solver ODE and particle swarm optimization technique routines for the tuning of the fuzzy type-2 PID, PD and PI controllers respectively. Due to the standard form of these controllers is not necessary to test the stability of the closed loop system, but the stability is assured as long as the automatic control designer can establishes the right membership function parameters and rules or use the automatic tuning by particle swarm optimization. The automatic tuning by particle swarm optimization (PSO) is designed to tune the membership function parameters so this project can be extended to tune the rules of the fuzzy type-2 controller. This library was programmed in the C++ compiler GNU GCC along with the mathematical programming language GNU OCTAVE for GNU LINUX, this library is completely open source and it can be modified, distributed and improved by anyone.