An optimal type II fuzzy sliding mode control design for a class of nonlinear systems

This study deals with the problem of controlling a class of uncertain nonlinear systems in the presence of external disturbances. To achieve this goal, a new Optimal Type-2 Fuzzy Sliding Mode Controller (OT2FSMC) is introduced. In the proposed controller, a novel heuristic algorithm, namely particle swarm optimization with random inertia weight (RNW–PSO), is employed. To achieve an optimal performance, the parameters of the proposed controller as well as the input and output membership functions are optimized simultaneously by RNW–PSO. The globally asymptotic stability of the closed-loop system is mathematically proved. Finally, this method of control is applied to the inverted pendulum system as a case study. Simulation results show the system performance is desirable.