Beam and Ball Plant System Controlling Using Intuitionistic Fuzzy Control

Silahtar O. , Atan Ö. , Kutlu F. , Castillo O.

4th IFIP TC 12 International Conference on Intelligence Science, ICIS 2020, Durgapur, India, 24 - 27 February 2021, vol.623, pp.255-262 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 623
  • Doi Number: 10.1007/978-3-030-74826-5_22
  • City: Durgapur
  • Country: India
  • Page Numbers: pp.255-262
  • Keywords: Beam and Ball (BNB) System, Controller design, Intuitionistic fuzzy control (IFC)


© 2021, IFIP International Federation for Information Processing.In this study, simplified “beam and ball (BNB) system” is controlled using “intuitionistic fuzzy control (IFC)” method. It is aimed to keep the ball on it in balance by applying DC voltage in different magnitudes to the DC motor of the system called “ball and beam plant”, which has a beam on which a DC motor is attached to the middle point and a ball moving without friction. In order to better observe the effect of this new generation controller applied to the system, parameters such as the torque of the motor, the mass of the beam and the ball, internal and external disturbance, friction etc. were ignored and the system is simplified. The position and velocity of the ball on the beam is taken as input for the controller, while the controller output is chosen as a DC voltage. After I-Fuzzification, I-Inference and I-Defuzzification process are performed in controller block, performance and efficiency of the system are discussed in terms of steady state error, setting time, maximum overshoot, chattering.