Fuzzy-modal control for the ball and beam system

Abstract

Abstract. The article is devoted to the development of a fuzzy-modal controller for the ball-beam position control system. This nonlinear dynamic plant is often considered when developing various control strategies. One option here is to use modal controls based on the linearized system model. However, the peculiarity of the linear controller is that the duration of the transient process does not depend on the initial state of the system. The proposed nonlinear control algorithm is based on the use of a set of modal control laws synthesized for different eigenvalues of a closed loop system. The signals of the modal controllers are matched by a fuzzy inference circuit using an a priori linguistic description of the states of the system. The simulation results show that fuzzy-modal control provides a transient time proportional to the initial deviation of the system.