Optimal PID-like Fuzzy Logic Controller Design for Ball and Beam System
O. Tolga ALTINÖZ A. Egemen YILMAZ
AbstractBall and beam system (BBS) is a benchmark hardware for designing control action. The structure of the system is based on changing the angle of the beam so that the position of the ball is changed. It is desired to move the ball to a reference position. In this paper Fuzzy Logic Controller (FLC) is applied for this problem. Instead of conventional FLC, the derivative and integral terms are integrated to the FLC, which is called as PID-like FLC. This controller has a constant Fuzzy structure with variable parameters. The performance of the controller is based on these parameters. Therefore, in this study, the parameters of PID-like FLC are optimized by using three optimization algorithms; Genetic Algorithm, Particle Swarm Optimization, and Differential Evolution. The performance of the controller is demonstrated on both simulation and hardware environment. The performance of the optimization algorithm with respect to the obtained performances are compared in this paper.