Diffuse Versus PID Control for a Ball and Platform System

Abstract

This article presents the results obtained in the operating performance achieved by means of a conventional PID controller and a diffuse controller, applied to the control of a multivariable, non-linear and inherently unstable plant such as the ball and platform device, used as an element for the study of different control techniques. From the mathematical model of the system, both controllers were designed using the classical methodology and structure of Mamdani respectively using Matlab® computational tools. The verification procedure was carried out through the application of entry instructions to print a circular and rectangular path to the ball. The comparison of the responses obtained by simulations shows a clear advantage in favor of the controller designed with diffuse techniques, even considering the presence of noise generated in the sensors and the occurrence of possible external disturbances.