Comparative Performance Analysis of Mamdani and Sugeno Fuzzy Controller using Application on 2DoF Ball Balancer System

This paper presents the design of Mamdani Fuzzy Inference System and Sugeno Fuzzy Inference System for controlling the ball position of two degree of freedom ball balancer system which is a nonlinear and unstable system with a complex transfer function. Intelligent control technique such as fuzzy helps in efficient control and position tracking of complex nonlinear systems. A comparative analysis has been performed to test the performance of the Mamdani FIS and Sugeno FIS on the ball balancer system for various characteristics such as ball position, ball plate angle and actuation voltage. The time domain specifications such as rise time, peak time, settling time, delay time and peak overshoot have been used as parameters to compare the two fuzzy systems. The simulations are performed using MATLAB/ Simulink environment.