Theses and Dissertations

Date of Award


Document Type


Degree Name

Master of Science (MS)


Mechanical Engineering

First Advisor

Dr. Horacio Vasquez

Second Advisor

Dr. Dumitru Caruntu

Third Advisor

Dr. Stephen Crown


Modern control engineering provides many options to automate systems for which a mathematical model is required. Another control does not rely on the mathematical model of the system and is known as fuzzy logic control. In this study, a literature review is conducted on existing control systems strategies such as proportional integral and derivative (PID), linear quadratic regulator (LQR), and fuzzy logic controller (FLC), the complexity of the systems they control, and their strengths and weaknesses. In addition, a series of experiments are conducted, both through simulations in MATLAB Simulink and using their implementation using the actual physical hardware to test the effectiveness of said controllers. The effect of changing fuzzy logic membership functions is also determined. The settling times of controllers are compared using a physical prototype of a mechanical arm. Lastly, dead zone correction techniques are addressed and implemented.


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