الفهرس 
ABSTRACT
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Abstract
In this thesis, a PD-like self- tuning fuzzy controller (STFC) based on tuning of scaling factors by gradienrt descent method is proposed. The tuning schemes allow tuning the scaling factors on - line by only ninew rules. Scaling factors tuning is more effective and simpler than tuning all the parameters of standard FLC. The aim of a controler is to improve performance, such as the rise time. the overshoot, the steady-state error for the step response. The experimental set-up consists of pendulum link, cart, timing belt to convert rortary motion to linear motion, two position sensors for cart and pendulum. It is equipped with pendulum position sensors, motordriver, ADDA interface card, and a host computer. Cart is actuted by dc motor with fgear reduction controlled via simple H-bridge drive circyit. position information is obtained from analogue angular potentiometers for pendulum and cart. The linear velocity of cart and angular velocity of pendulum are obtained by using position signal and utilizing first order backward differencing technique. The feedback signals from the potentiometers and the control signal to the motor driver are sent to/from the computer via PCI-9112 ADDA iinterface card.