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Fractional order PID controller was received attentions in control problems for it had 2 freedom adjustable parameters. Practices had proved that better results could be obtained by introduction of fractional order PID in control problems. And in recently years, fractional order PID combined with fuzzy logic system was gradually got attention, the typical of which was fractional order type-1 fuzzy PID controller. For fractional order PID and fractional order type-1 fuzzy PID controller couldn't deal with the uncertainty of system, so fractional order interval type-2 fuzzy PID controller was applied to solve this problem. But interval type-2 fuzzy sets were a simplification of type-2 fuzzy sets, and there may be have the defect of information loss. A fractional order general type-2 fuzzy PID controller was proposed in this article. The proposed controller based on general type-2 fuzzy logic system, which can make full use of the advantages of general type-2 fuzzy logic system in describing the uncertainty of the system. The fractional order general type-2 fuzzy PID controller utilized a simplified type reduction called NT type reduction algorithm. The NT type reduction algorithm can get the defuzzification result directly and avoided iterative process as KM type reduction commonly used in interval type-2 fuzzy controller. The simulations of 3 processes and a practical inverted pendulum system show that fractional order general type-2 fuzzy PID controller can reduce overshoot, improve system response speed and accelerate system stability time in comparing with other controllers. Especially, when the system has disturbance, parameters uncertainty or structure uncertainty, the fractional order general type-2 fuzzy PID controller has better control effects than other compared controllers.

A Fractional Order General Type-2 Fuzzy PID Controller Design Algorithm