Design of a fuzzy controller for stabilizing a ball-and-beam system
Hak‐Keung Lam, Frank H. F. Leung, P.K.S. Tam · 2003
This paper presents the stability analysis and design of a fuzzy controller for a nonlinear ball-and-beam system. An improved simple stability condition is derived based on the Lyapunov's stability theory. The derived stability condition involves a smaller number of Lyapunov's conditions. A design of the membership functions of the fuzzy controller is given. In our approach, the number of rules of the fuzzy controller can be different from that of the fuzzy plant model. In addition, our approach can be applied to those fuzzy controllers with both positive and negative grades of membership.