Augmentation in Performance of Real-Time Balancing and Position Tracking Control for 2-DOF Ball Balancer System Using Intelligent Controllers

This article presents the implementation of different compensators like PD, PID, PID with Integral ANTI-WINDUP, Neuro-fuzzy controller (Ni-F) and Neuro-fuzzy with PID (NiF-PID) controller with different inputs over the 2-DOF ball balancer system. The modeling of different controllers is done using MATLAB/Simulink. Along with simulation, the designed controllers are applied to an experimental setup of a real-time Quanser ball balancer system. Both transient and steady-state response analyses are done to evaluate the performance of these compensators. The comparisons for variation in ball position, applied input voltage to servo motor and plate angle are done for the proposed controllers for both simulation and real-time experimentation results. Position and plate angle control with load variation are also executed in real time with NiF-PID compensator. The assessment of simulation outcomes and real-time experimental response implies that the NiF-PID controller provides overall better control performances, the best adaptability and relevancy among all designed controllers for the ball balancer system. NiF-PID compensator provides 18.55% better result in case of steady-state error and 10 times less overshoot in case of real-time experimentation as compared to the PID controller.