a PD-like self-tuning fuzzy
controller based on tuning of scaling factors (STFC) by
gradient descent method is presented. The tuning scheme
allows the tuning of the scaling factors to be on-line. Tuning
scaling factors is more effective and simpler than tuning all the
parameters of standard fuzzy logic controller (FLC). The aim
is to obtain good performance parameters, such as the rise
time, the overshoot, the steady-state error. Experimental
results of an inverted pendulum system with STFC controller
show a better performance in the transient and steady state
phases than other classical controllers like PD, PID, auto-tuned
PID controller (PID-AT), and linear quadratic regulator
(LQR).