Control Of A Cart-Ball System ; Comparison Between State Feedback Controller And Fuzzy Logic Controller

Syafafwati Hanis , Mohd Jamaai (2008) Control Of A Cart-Ball System ; Comparison Between State Feedback Controller And Fuzzy Logic Controller. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

A cart-ball system is present as inverted pendulum problem which consist some basic concepts such as nonlinear, multivariable and non-minimum phase behavior system. This thesis is concerned to introduce a modem controller and intelligent controller. Besides that, it is related with the problem of modeling and control of a cartball 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. The controllers that involve with the purpose of controlling the system are State-Feedback Controller and Fuzzy Logic Controller. Developing of mathematical modeling of a cart-ball system is the first task before the linearization technique is applied to the nonlinear model to design the State-Feedback Controller. After State-Feedback Controller is accomplished, designing of Fuzzy Logic Controller is continued to control the cart-ball system. Then, the simulation work of both controllers is done so that the comparisons between controllers can be established. Finally the animation of the cart-ball will be accomplished using the software. The simulation work is done using a MATLAB/SIMULINK platform.

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