{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,9]],"date-time":"2025-12-09T08:23:54Z","timestamp":1765268634212,"version":"build-2065373602"},"reference-count":52,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2020,4,2]],"date-time":"2020-04-02T00:00:00Z","timestamp":1585785600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["Finance Code 001"],"award-info":[{"award-number":["Finance Code 001"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This work proposes dedicated hardware for an intelligent control system on Field Programmable Gate Array (FPGA). The intelligent system is represented as Takagi\u2013Sugeno Fuzzy-PI controller. The implementation uses a fully parallel strategy associated with a hybrid bit format scheme (fixed-point and floating-point). Two hardware designs are proposed; the first one uses a single clock cycle processing architecture, and the other uses a pipeline scheme. The bit accuracy was tested by simulation with a nonlinear control system of a robotic manipulator. The area, throughput, and dynamic power consumption of the implemented hardware are used to validate and compare the results of this proposal. The results achieved allow the use of the proposed hardware in applications with high-throughput, low-power and ultra-low-latency requirements such as teleoperation of robot manipulators, tactile internet, or industry 4.0 automation, among others.<\/jats:p>","DOI":"10.3390\/s20071996","type":"journal-article","created":{"date-parts":[[2020,4,2]],"date-time":"2020-04-02T11:57:14Z","timestamp":1585828634000},"page":"1996","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Proposal of Takagi\u2013Sugeno Fuzzy-PI Controller Hardware"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6958-6754","authenticated-orcid":false,"given":"S\u00e9rgio N.","family":"Silva","sequence":"first","affiliation":[{"name":"Laboratory of Machine Learning and Intelligent Instrumentation, IMD\/nPITI, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6335-6173","authenticated-orcid":false,"given":"Felipe F.","family":"Lopes","sequence":"additional","affiliation":[{"name":"Laboratory of Machine Learning and Intelligent Instrumentation, IMD\/nPITI, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1693-6394","authenticated-orcid":false,"given":"Carlos","family":"Valderrama","sequence":"additional","affiliation":[{"name":"Department of Electronics &amp; Microelectronics, Polytechnic Faculty, University of Mons, Mons 7000, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7536-2506","authenticated-orcid":false,"given":"Marcelo A. C.","family":"Fernandes","sequence":"additional","affiliation":[{"name":"Laboratory of Machine Learning and Intelligent Instrumentation, IMD\/nPITI, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil"},{"name":"Department of Computer and Automation Engineering, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,4,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Poli, V.S.R. (2015, January 18\u201320). Fuzzy data mining and web intelligence. Proceedings of the 2015 International Conference on Fuzzy Theory and Its Applications (iFUZZY), Yilan, Taiwan.","DOI":"10.1109\/iFUZZY.2015.7391897"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Nasrollahzadeh, A., Karimian, G., and Mehrafsa, A. (2017). Implementation of neuro-fuzzy system with modified high performance genetic algorithm on embedded systems. Appl. 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