An interval type-2 Fuzzy PD controller for ball and beam system

This paper presents a simple interval type 2 fuzzy proportional derivative controller for ball and beam system. The inner motor position and the outer ball position control loops are operated with the similar controller structures but having different settling times. The proposed controller is validated through simulation runs in MATLAB environment where it is also compared with type 1 fuzzy proportional derivative controller. Results have shown that the proposed controller is robust to beam angle and ball position disturbances, as well as measurement noise and errors.