Abstract
This paper presents the design, control, and validation of two degrees of freedom Ball Balancer system. The ball and plate system is a nonlinear, electromechanical, multivariable, closed-loop unstable system on which study is carried out to control the position of ball and plate angle. The model of the system is developed using MATLAB/Simulink, and neural integrated fuzzy and its hybridization with PID have been implemented. The performance of each controller is evaluated in terms of time response analysis and steady-state error. Comparative study of simulation and real-time control results show that by using the neural integrated fuzzy controller and neural integrated fuzzy with proportional-integral-derivative Controller, the peak overshoot is reduced as compared with the PID controller and lead the system prone to appropriate balancing. These control techniques provide a stable and controlled output to the system for ball balancing and plate angle control.
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