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All Journal Journal of Fuzzy Systems and Control (JFSC)
Phong-Luu Nguyen
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).
Comparative Evaluation of Fuzzy Logic, Sliding Mode, and LQR Controllers for DC Motor Position Control Minh-Thy Pham; Lam-Trong-Tuan Bui; Thi-Thanh-Hoang Le; Van-Bac Nguyen; Le-Khoi-Nguyen Cao; Le-Nhat-Minh Tran; Xuan-Manh Ngo; Phong-Luu Nguyen; Dinh-Phu Nguyen
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.v4i2.405

Abstract

This paper presents a comparative evaluation of three advanced control strategies for DC motor position control, namely Fuzzy Logic Control (FLC), Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). First, the mathematical model of the DC motor is derived from the electrical and mechanical dynamic equations. Based on this model, the three controllers are designed and implemented in MATLAB/Simulink and experimentally validated on a microcontroller-based platform under identical operating conditions. The comparative analysis is performed using quantitative performance indices, including settling time, overshoot, steady-state error, and control effort. Simulation and experimental results show that the SMC controller provides the best overall performance with fast convergence, high robustness, and small steady-state error, while the FLC approach achieves smoother responses with moderate transient performance. The LQR controller demonstrates rapid state regulation but produces larger transient peaks and higher control effort compared with the other methods. The results highlight the practical trade-offs among intelligent, robust, and optimal control strategies for low-cost DC motor position control applications.
Co-Authors Dinh-Phu Nguyen Hoang-Dung Nguyen Lam-Trong-Tuan Bui Le-Khoi-Nguyen Cao Le-Nhat-Minh Tran Minh-Thy Pham Ngoc-Long Le Pham-Minh-Trong Vo Quoc-Khanh Tran Thanh-Binh Nguyen Thi-Hong-Lam Le Thi-Ngoc-Thao Nguyen Thi-Thanh-Hoang Le Tran-Nhat Dang Van-Bac Nguyen Van-Hiep Nguyen Xuan-Manh Ngo