Control of a cart-ball system : comparison between model based controller and fuzzy logic controller

Abstract

A cart-ball system is a challenging system from the control engineering point of vtew. This is due to the nonlinearities, multivariable and non-minimum phase behavior presented in the system. This thesis is concerned with the problem of modeling and control of a cart-ball system such that to balance the ball on the top of the arc and at the same time to place the cart at a desired position. Two types of the controllers will be synthesized in order to control the system. One is the model based controller i.e. StateFeedback Controller and second is a Fuzzy Logic Controller. The first stage is to develop the mathematical model of a cart-ball system based on the state-space theory. Then, the linearization technique will be applied to the nonlinear model so that the design of the State-Feedback Controller can be accomplished. The second stage is to design the Fuzzy Logic Controller to be applied to the system. The final stage is to carry out the simulation work of both controllers for comparison purpose. The simulation work is done using a MA TLAB/SIMULINK. platform.