Interval Type 2 Fuzzy Controller, simple implementation

Two matlab functions, each implements a simple IT2 Fuzzy Logic Controller.

Two m-files are included, each represents an implementation of interval type-2 fuzzy logic systems. A pdf file that explains the codes is included, along with a copy of the research manuscript that discusses in details the derivation of the inference mechanisms that these codes are based on.
Also, a Simulink file is included. It provides a simulation of balancing an inverted pendulum using the discussed IT2-FLC mechanisms.
Two different m-files are provided, each of them implements a different IT2 fuzzy inference mechanism. Each file is programmed as MATLAB function that has two inputs and one output.
All the controllers provided use three membership functions for each input, as seen in the figure in the pdf file. To control the spread of the membership functions (i.e. their positions) you may use input and output gains. Alternatively, you may modify the m-files to add more membership functions and change the rule-base.