Design of Fuzzy PID with Second-order Model Reference for Ball and Beam System

Fuzzy PID controller has been one of a popular technique in control system to produce great performance for a linear or non-linear system. However, the design cannot guarantee to achieve any desired specifications other than the error. Hence, this paper presents a new approach in Fuzzy PID controller design that can guide the system to achieve a desired output. The proposed structure guides the fuzzy with a second-order model reference input rather than a step input signal. Hence, fuzzy will tune the PID as guided by the reference model input to achieve the desired output. This study was simulated on a ball and beam model to control the ball position. Several sets of second-order model reference were evaluated to see how close the output can track the input signal. The results show good performance in input signal tracking and thus, all the desired specifications were fulfilled.