International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No.

1, January 2013

FUZZY CONTROL FOR NONLINEARBALL AND

BEAM SYSTEM
AbdulrahmanA.A.Emhemed
College of Electronic Technology-BaniWalid, Libya.
abdo_83f@yahoo.com

ABSTRACT
This paper studies the control of the ball-and beam system by different controllers. Many nonlinear
controllers for ball and beamsystem can achieve in some cases asymptotic stability.On the other hand,
many laboratories useProportional Integral Derivative control for the ball and beam system, but theory
analysisis based on a linear approximate model. Therefore, some methods of controlfor the ball's position
in this system are required for getting ideal system. The fuzzy logic controller will achieved ideal response
of the stability of Ball and Beam system.Later in this paper, we will implement a PID control and fuzzy
logic control to get the ideal stability. The paper had shown great progress and successful results.

KEYWORDS
Ball and beam, PID controller, fuzzy logic control, stability.

1. INTRODUCTION:
The ball and beam system is a highly nonlinear and open loop unstable system. To develop an
accurate model and great stability of the ball and beam system, the fuzzy controller technique is
needed.The ball and beam system is one of the most popular and important bench systems for
studying control systems. Many classical and modern control methods have been used to enhance
and investigate stabilizeand the ball and beam system.
Wen Yu (1999) there are two problems for ball and beam control: (i) many laboratories use
simple controllers such as PO control, but theory analysis is based on linear models, and (ii)
nonlinear controllers for the ball and beam system have good theory results. But they are seldom
used in laboratories. Little effort has been made to analysis PO control with nonlinear models. In
this researchWen Yumodifythenormal POcontrolusingtwomethodsfortheball andbeamsystem:
parallelandserial PO regulations; then we analyze the stability of these types of PO regulations
with the complete nonlinear model. Realexperimentsareappliedtotestourtheoryresults.This
papergivesagoodexampleofhow to apply nonlinear theory in the laboratory for control education.
Keshmiri (2012) introducedesign for LQR considering two Degrees-of-Freedom andcoupling
dynamics. The parameters of the LQR are tuned using (GA). Jacobian linearization method is
used to linearize the system around operating-point. Due to the noise of the sensor in the
experimental setup, a state observer is designed to observe the velocity of the ball. In order to
DOI : 10.5121/ijfls.2013.3103

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International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No.1, January 2013

compare the performance of the LQR and study the effect of simplifying assumptions, two
control strategies are designed and implemented: (PID) as non-model based control strategy,
hybrid PID and LQR as combination of model based and non-model based control strategies. The
experimental results of this research prove the model based control strategies of the ball and beam
system andusing LQR with GA affected to optimize the stability and getting best result compared
to other controllers.
Ravichandran and Mahindrakar (2010) present a nonlinear control law to locally asymptotically
stabilize the ball on a circular beam system. A series of nonlinear coordinate transformations is
applied to the system to transform the original system into a strictfeedback form. This structure
paves the way for the application of backstepping technique to arrive at a Lyapunov function.
Simulation results show the efficacy of the proposed control strategy.
Yang Song, and MinruiFei (2008) their paper studies the stabilization of the ball-and beam
system by using switching control and state feedback. A numerical example is shown to illustrate
an error in the results of paper. The reason causing such error is analyzed and the corresponding
corrections are provided. The step of designing switching control strategy is presented.
A lot of researches and studies have dealt with the problems of controlling the ball on a beam
system. In this research intelligent control is used to improve the stability compare to classical
control.

2. MATHEMATICAL MODELING OF BALL AND BEAM SYSTEM

A ball is placed on a beam, as shown in figure 1, where it is allowed to roll with 1 degree of
freedom along the length of the beam. A lever arm is attached to the beam at one end and a servo
gear at the other. As the servo gear turns by an angle
, the lever changes the angle of the beam
by . When the angle is changed from the horizontal position, gravity causes the ball to roll along
the beam. A controller will be designed for this system so that the ball's position can be
manipulated.

Figure 1.Ball and Beam system.

The Lagrangian equation of motion for the ball is given by the following:
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International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No.1, January 2013


   
   sin  

(1)

Linearization of this equation about the beam angle, alpha = 0, gives us the following linear
approximation of the system:





 
   

(2)

The equation which relates the beam angle to the angle of the gear can be approximated as linear
by the equation below:



 

(3)

Substituting equation (3) into (2), so we get:



  
    

(4)

Taking the Laplace transform of the equation above, the following equation is found:


   .      


(5)

Divide equation (5) per (s) to get the ball position R(s)to the gear angle (s).
 

  




 
 

  .     

(6)

  

 !  

(7)

Where is: R is radius of the ball (0.013m); d is lever arm offset (0.02m); g is gravitational
acceleration (9.81m/s2); J is the moment of inertia of the ball (9.9e-6 kg.m2); L is the length of
the beam (1m); M is the mass of the ball (0.12kg); is the gear angle;  is the beam angle
coordinate.It should be noted that the above plant transfer function is a double integrator. As such
it is marginally stable and will provide a challenging control problem.

3. PID CONTROL
4.
PID algorithm consists of three basic modes are the Proportional, the Integral and the Derivative
modes. For systems response settings should be adjusted if PID implementation is used.themost
popular method used is Ziegler-Nichols method which uses only one so called ultimate-point or
two numbers obtained from the response.The actuating signal for PID control is given by:

ea (t ) = e (t ) + Td

d e (t )
+ K
dt

e (t ) d t

(8)

By transfer equation (8) into In Laplace domain, we get:

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International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No.1, January 2013

E a ( s ) = E ( s ) + T d sE ( s ) +

Ki
K
E ( s ) = (1 + sT d + i ) E ( s )
s
s

(9)

The aim of choosing PID as a non-model based control strategy is to study the effect of the
dynamic equations in the performance of the control system. In order to study the effect of the
coupling in the dynamic equations, the ball and beam system is divided into two subsystems.
First, the beam is disconnected from the motor to separately design a PID controller for the
motor. The gains are selected based on try and error and ZN method. The PID gains tuned by
Ziegler Nicole method for get stability for the system.

5. FUZZY LOGIC CONTROL:

The story of fuzzy logic begins by Zadehs first paper on fuzzy sets. The term fuzzy logic is not
used; but Zadehmentions Kleene three-valued logic (just in passing).Goguens 19681969 paper
speaks on logic of inexact concepts but the term fuzzy logic occurs there (Is this the first
occurrence of the term in the literature?) The paper is very general, introduces algebras called
closg, very near to algebras presently called residuated lattices, as algebras of truth functions of
connectives for many-valued logics of inexact concepts,As an example he presents the unit real
interval [0, 1] with product and its residuum (Goguenimplication), thus a particular t-norm
algebra (not speaking on t-norms). Zadeh has written several papers on fuzzy logic; an early
paper is his Fuzzy logic and approximate reasoning from 1975, where he uses connectives of
ukasiewicz logic min, max, 1 x, ukasiewicz implicationbut not strong conjunction.
What is artificial intelligence? People with different backgrounds give different answers. For us,
artificial intelligence is the study of giving machines ability to think in human way and acting as
people, i.e., to develop intelligent machines to solve complex real problems and to realize
machine intelligence. Concretely, the goal of machine intelligence is to give machines the ability
of learning knowledge from the changing environment and circumstances, to represent
knowledge in appropriate and tractable forms, to make proper decision using knowledge, and
applying knowledge to resolve complex problems in the real world. To achieve this aim, fuzzy
logic can be taken as an alternative to the classical logic.
Fuzzy Logic Control system is very important and helpful for the system modeling that is very
complex and difficult for analysis by conventional quantitative methods and for the accessible
sources of information and data that are interpreted qualitatively, doubtfully, therefore its a
controllers for designing the challenging nonlinear control systems by If-Then laws that is like
human intelligence and it increases the accuracy of the control action.
Fuzzy controller for this study consist of two inputs ( error E and change of error DE) and one
output ( OP), FLC in this study for enhancement the output response for system of the ball
position to the gear angle of the Ball and Beam system. The block below shows the structure of
the fuzzy logic control and the membership for the inputs and the output, and the surface viewer.

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International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No.1, January 2013

Figure 2.the fuzzy logic inputs and the output of the system.

Figure 3.the first input of the fuzzy control error E.

Figure 4.the second input of the fuzzy control change of error DE.

Figure 5.the output of the fuzzy control.

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International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No.1, January 2013

Figure 6. The 3-D

D characteristic curve of the fuzzy logic controller the surface viewer.

6. RESULT AND DISCUSSION:

The system designed using two type of input to observe the result for two cases and that clear in
the two cases that fuzzy logic control gives the ideal where the fuzzy rule are same in both cases
in sine wave input and step response input, with very limited
ed error and more quality response
compared to the classical PID control.

Figure 7. The output response of FLC, PID controller

in case step input.

Figure 8. The output response of FLC, PID

controller in case sine wave input.

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International Journal of Fuzzy Logic Systems (IJFLS) Vol.3, No.1, January 2013

Figure 9. The output response of FLC, PID controller Figure 10. The output response of FLC, PID
controller in case sine wave input.
in case step input.

The output response simulation of FLC, PID controller. The overshoot of the output response in
the FLC is 0% compared to 2.8 % in in the PID controller case results and FLC has the better
transient response compare to PID. Also that clears in sine wave input for FLC is better in less
overshoot and better transient response and limited error compare to PID control response.

7. CONCLUSION:
This paper presented a modeling and control of Ball and Beam system. This study shows the
effect of the intelligent FLC for enhancement the response for system by the ball position to the
gear angle of the Ball and Beam system.Different controllers presents that the effect of the fuzzy
logic controller achieved ideal response of the stability of Ball and Beam system.We implement a
PID control and fuzzy logic control to get the ideal stability and the FLC is better in less
overshoot and better transient response and limited error compare to PID control response. The
paper had shown great progress and successful results.

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AUTHOR
AbdulrahmanA.A.Emhemed is a lecturer at College of Electronic TechnologyBaniWalid, Libya. Currently he is a PhD student at UniversitiTechnologi Malaysia,
Faculty of Electrical Engineering, Department of Mechatronics and Robotics
Engineering; He has many papers published at conferences and journals. Mr.Emhemed
is a member for many international institutes and engineering associations such as
Institute of Electrical and Electronics Engineering (IEEE), SCIence and Engineering
Institute (SCIEI), and the International Association of ENGineers (IAENG). His area
of interesting is Artificial Intelligent, Microcontroller Applications, Robotics, and
Process Control.

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