An interval type-2 Fuzzy PD controller for ball and beam system

Author

Farooq, Umar ; Gu, Jhen-Fong ; Asad, Muhammad Usman

Author_Institution

Dept. of Electr. Eng., Univ. of The Punjab, Lahore, Pakistan

fYear

2013

fDate

25-26 Sept. 2013

Firstpage

1

Lastpage

7

Abstract

This paper presents a simple interval type 2 fuzzy proportional derivative controller for ball and beam system. The inner motor position and the outer ball position control loops are operated with the similar controller structures but having different settling times. The proposed controller is validated through simulation runs in MATLAB environment where it is also compared with type 1 fuzzy proportional derivative controller. Results have shown that the proposed controller is robust to beam angle and ball position disturbances, as well as measurement noise and errors.

Keywords

DC motors; fuzzy control; measurement errors; motion control; noise measurement; open loop systems; position control; three-term control; DC motor; MATLAB environment; ball and beam system; ball position disturbances; beam angle; controller structures; inner motor position control loops; interval type 2 fuzzy proportional derivative controller; interval type-2 fuzzy PD controller; measurement errors; measurement noise; open loop unstable system; outer ball position control loops; type 1 fuzzy proportional derivative controller; DC motors; Fuzzy logic; Fuzzy sets; Gain; Noise; PD control; Vectors; Interval type 2 fuzzy proportional derivative controller; MATLAB/Simulink; ball and beam system; type 1 fuzzy proportional derivative controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer,Control & Communication (IC4), 2013 3rd International Conference on

Conference_Location

Karachi

Print_ISBN

978-1-4673-6011-1

Type

conf

DOI

10.1109/IC4.2013.6653749

Filename

6653749