Abstract
By relating to the conventional PID and PID type fuzzy, an optimized PID type fuzzy controller and an optimized PID controller are designed for an inverted pendulum with two outputs. The optimized PID type fuzzy tunes its scaling factors on line. The optimization is done by imperialist competitive algorithm (ICA). The simulation results show a better performance in overshoot, settling time, rise time, integral absolute error, and robustness in compared to the conventional and self-tuning designs.