This paper proposes an automatic fuzzy system design method that uses a Genetic Algorithm and integrates three design stages; our method determines membership functions, the number of fuzzy rules, and the ruleconsequent parameters at the same time. Because these design stages may not be independent, it is important to consider them simultaneously to obtain optimal fuzzy systems. The method includes a genetic algorithm and a penalty strategy that favors systems with fewer rules. The proposed method is applied to the classic inverted pendulum control problem and has been shown to be practical through a comparison with another method.

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