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All Journal Journal of Fuzzy Systems and Control (JFSC)
Tran-Nhat Dang
Ho Chi Minh City University of Technology and Engineering (HCM-UTE)
Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Design and Implementation of PID and Fuzzy-PID Controllers for Ball-on-Plate Quoc-Khanh Tran; Pham-Minh-Trong Vo; Hoang-Dung Nguyen; Tran-Nhat Dang; Thi-Ngoc-Thao Nguyen; Thi-Hong-Lam Le; Phong-Luu Nguyen; Thanh-Binh Nguyen; Van-Hiep Nguyen; Ngoc-Long Le
Journal of Fuzzy Systems and Control Vol. 4 No. 2 (2026): Vol. 4 No. 2 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v4i2.380

Abstract

This paper presents the design, implementation, and comparative evaluation of a conventional PID controller and a Fuzzy-PID controller for a nonlinear Ball-on-Plate (BoP). The primary objective is to stabilize the ball at a desired position on the plate while achieving a fast transient response and robustness against disturbances. A conventional PID controller is first designed and tuned using the Ziegler–Nichols method. To improve performance under nonlinear conditions, a Fuzzy-PID controller is developed in which fuzzy logic adaptively adjusts the PID gains online. The proposed controllers are evaluated through three stages: numerical simulation in MATLAB/Simulink, real-time implementation in Python, and experimental validation on a physical hardware platform. Compared with the conventional PID controller, the Fuzzy-PID controller achieves a reduction in maximum overshoot from 0.17% to below 0.1% in simulation, a shorter settling time (approximately 4.0 s for PID versus 2.8 s for Fuzzy-PID), and a reduction in steady-state positioning error of approximately 33–36% in hardware experiments (from ~3–14 pixels to ~2–9 pixels).
Co-Authors Hoang-Dung Nguyen Ngoc-Long Le Pham-Minh-Trong Vo Phong-Luu Nguyen Quoc-Khanh Tran Thanh-Binh Nguyen Thi-Hong-Lam Le Thi-Ngoc-Thao Nguyen Van-Hiep Nguyen