Gravitational search algorithm-based fuzzy control for a nonlinear ball and beam system

In recent decades, fuzzy logic and its application for stabilising nonlinear systems have had a great development. In this paper, a novel optimal fuzzy controller is provided to control a ball and beam system. The fuzzy control force is calculated via a fuzzy system based on the singleton fuzzifier, the centre average defuzzifier and the product inference engine. To further improve the control performance, the Gravitational Search Algorithm is applied to optimise the controller parameters. The obtained simulation results indicate that the proposed scheme can provide a better performance in the case of convergence rate and accuracy in comparison with those of other recently published works.

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