Fuzzy and PID controllers applied to ball and plate system

Abstract

This document shows the design of a Fuzzy controller and a PID controller applied to the Ball and Plate “CE 151” system. The design method chosen for the PID controller was Root Locus Design and because it requires a mathematical model, it was obtained using Lagrangian mechanics. This model was validated with the real data of the system in order to have a model closer to the real dynamics. The Fuzzy controller was designed using an inference system with Takagi-Sugeno-Kang logic, which has as inputs the error and the derivative of the error. This inference system was complemented by an integral action to eliminate the steady state error. The performance of the two designed controllers is compared via the application of tests such as, step response, setpoint tracking, disturbances response and robustness.