Decomposed Interval Type-2 Fuzzy Systems with Application to Inverted   Pendulum
  This article introduces the idea of decomposition of interval Type-2 fuzzy logic system into two parallel type-1 fuzzy systems. This decomposition avoids the problems associated with type-reduction techniques normally needed in type-2 fuzzy systems. Next, we compare the performance of a decomposed type-2 controller to the performance of a type-1 controller in stabilizing an inverted pendulum. 
Sherif M. Abuelenin
cs.SY