Fuzzy Controller for Laboratory Levitation System: Real-time Experiments Using Programmable Logic Controller

Abstract

Development of a Fuzzy Proportional Integral Derivative (FPID) controller for a laboratory magnetic levitation process is described. The process is unstable and nonlinear, it is impossible to use a classical PID controller which works correctly. The process is very fast: the sampling period is 1 ms. The FPID controller is implemented using the R04 (the iQ-R family) Programmable Logic Controller (PLC) produced by Mitsubishi Electric.