Design of Fuzzy PID Controller with Reference Model for Ball and Beam Mechanism
One of a popular laboratory equipment used to study nonlinear dynamics and open loop unstable system is ball and beam mechanism. The unstable behavior of ball and beam can be observed where the ball will keeps moving on a beam when the beam is tilted. Many controllers had been designed to achieve stability for this mechanism including a PID controller. Lately, the fuzzy incorporation in the system to facilitate PID tuning is basically simplifying the design problems especially in PID tuning. This research on the other hand, will propose a modified structure to a general fuzzy PID so that specific design requirements can be realized with ease. A reference model was introduced at the set point which will bring information about the desired output specifications. Hence, different specifications can be expected from a different reference model. This paper presents the results obtained from few first order model references.
2019 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS)