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All Journal Indonesian Journal of Engineering and Science (IJES)
Phu, Thi-Ngoc-Hieu
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Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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EXPERIMENTAL ANFIS-FUZZY CONTROLLER FOR BALL AND BEAM SYSTEM Le, Tuan-Kiet; Nguyen, Le-Anh-Tuan; Le, Ngoc-Long; Nguyen, Van-Dong-Hai; Le, Thi-Hong-Lam; Le, Thi-Thanh-Hoang; Nguyen, Van-Hiep; Nguyen, Thanh-Binh; Phu, Thi-Ngoc-Hieu; Nguyen, Thi-Ngoc-Thao; Nguyen, Ngoc-Hung; Nguyen, Binh-Hau; Nguyen, Hai-Thanh
Indonesian Journal of Engineering and Science Vol. 7 No. 1 (2026): Table of Contents
Publisher : Asosiasi Peneliti Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51630/ijes.v7i1.206

Abstract

This paper presents the development of an Adaptive Neuro-Fuzzy Inference System (ANFIS) controller for a mid-pivot Ball and Beam system. The nonlinear dynamic model is derived using Euler–Lagrange formulation, followed by DC motor modeling to construct the full state-space system. An ANFIS controller is trained from PID-generated data to enhance adaptability under nonlinear conditions. Simulation and hardware experiments validate the controller’s performance. Results show that the proposed controller can stabilize the system with reasonable accuracy, although overshoot and oscillation remain. Directions for improving intelligent control and hardware design are discussed.
Co-Authors Le, Ngoc-Long Le, Thi-Hong-Lam Le, Thi-Thanh-Hoang Le, Tuan-Kiet Nguyen, Binh-Hau Nguyen, Hai-Thanh Nguyen, Le-Anh-Tuan Nguyen, Ngoc-Hung Nguyen, Thanh-Binh Nguyen, Thi-Ngoc-Thao Nguyen, Van-Dong-Hai Nguyen, Van-Hiep