Design and Comparison of Type-1 and

Interval Type-2 Fuzzy Gain Scheduling

Controllers for Ball and Beam System

Umar Farooq and Jason Gu

Department of Electrical and Computer
Engineering Dalhousie University Halifax,
N.S., Canada

Abstract
Stabilization and tracking of the ball
position on rectangular beam using type-1
and interval type-2 fuzzy logic controllers
Beam angle as a scheduling variable
Simulation of controllers in MATLAB
environment for various initial conditions
and in the presence of disturbance signals
Interval type-2 fuzzy gain scheduling
controller has a better response and
disturbance rejection capability as
compared to type-1 fuzzy and conventional
pole placement controller

Ball and Beam System

0
x1b
0 1
x
=
+
x=
x
sin

x
b

2b
0 0
b
mg
y = [1 0] x
bb =

xb

2 + m
R

bb = 7.007, am = 37.386, bm = 66.394

0 1
0
x=
x
+

b v
0
a
m

m
y = [1 0] x

x1m
x=
x2 m

am =

Km K g
Ra J eq

, bm =

Beq
J eq

K m2 K g2
Ra J eq

The Controller Structure

Pole Placement Controller

n =

tp 1

p1,2 = n jn 1 2

N x( nx1) A( nxn ) B( nx1)

N r (1x1) C(1xn ) D(1x1)

t pm = 0.1s, m = 0.707

q ( s ) = s 2 ( p1 + p2 ) s + p1 p2

K m = [ 29.7214 0.3830]

K = [ 0 1]Wc1q ( A)

t pb = 2.0 s, b = 0.707

Wc = [ B AB ]

Kb = [ 0.7041 0.4482]

q ( A) = A2 ( p1 + p2 ) A + p1 p2 I

1
N x = , Nr = 0
0

0( nx1)

1(1x1)

Type-1 Fuzzy Gain Scheduling

Controller

x ( t ) = A1x ( t ) + B1u ( t )
y ( t ) = C1x ( t )

x ( t ) = A2 x ( t ) + B2u ( t )
y ( t ) = C2 x ( t )
2

x (t ) =

w ( ( t ) ) .{ A x ( t ) + B u ( t )}
i

i =1
2

w ( ( t ) )
i

i =1

x ( t ) = hi ( ( t ) ) .{ Ai x ( t ) + Bi u ( t )}
i =1

hi ( ( t ) ) =

wi ( ( t ) )
2

w ( ( t ) )
i

i =1

, hi ( ( t ) ) = 1
i =1

Type-1 Fuzzy Gain Scheduling

Controller (Contd.)
2

y ( t ) = hi ( ( t ) ) .Ci x ( t )
i =1

u ( t ) = F1x ( t )

F1 = [ 0.7041

0.4482] ,

F2 = [1.4081

0.8964]

u ( t ) = F2 x ( t )

u ( t ) = hi ( ( t ) ) .Fi x ( t )
i =1

Type-1 Fuzzy Gain Scheduling

Controller (Contd.)
k

Si = min ( F1 ( i ) , F2 ( i ) )

Li = max ( F1 ( i ) , F2 ( i ) )
Ff
T

{ Ai Bi Fi }

P + P { Ai Bi Fi } < 0, i = 1, 2

G12T P + PG12 < 0

2.89 1.673
P=

0.378 1.374

Interval Type-2 Fuzzy Gain

Scheduling Controller
u ( t ) = Fi x ( t ) , i = 1, 2

u ( t ) = m

w ( ( t ) ) F x ( t )
i =1

i
2

w ( ( t ) )
i =1
2

w ( ( t ) ) F x ( t )
n

i =1

w ( ( t ) )
i =1

Interval Type-2 Fuzzy Gain

Scheduling Controller (Contd.)
GiiiT P + PGiii < 0,
T

Gijj + G jii
Gijj + G jii
P
+

2
2

Gijl + Gilj
Gijl + Gilj
P
+

2
2

Gijl = Ai mBi K j nBi K l

1.283 0.475
P=

0.32 1.120

P 0, i < j

P 0, i, j < l

Simulation Results
Stabilization

Simulation Results (Contd.)

Step Response

Simulation Results (Contd.)

Reference Tracking

Simulation Results (Contd.)

Disturbance Rejection

Simulation Results (Contd.)

Conclusions
This paper describes the design of a fuzzy gain
scheduling controllers for ball and beam system.
The system is linearized around two operating
points and controller gains are determined using
pole placement technique in each case. Then by
selecting beam angle as the scheduling variable,
controller gains are weighted using Takagi-Sugeno
inference mechanism. The closed loop stability of
the system is guaranteed by searching for a
common symmetric positive definite matrix. A
comparison is made between the controllers
through simulations in MATLAB environment. It is
shown that IT2-FLC has better response and
disturbance rejection capability as compared to
type-1 and pole placement controllers.

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Ball and beam design project, Available [Online]:
http://www.saadat.us/download/ee371lab_manual/9_Ball_and_Beam.pdf

Questions?