Two control loops are devised: a conventional PID regular is used to control the position and velocity of the trolley, and a fuzzy logic controller is proposed to the anti-swing control of the load.
A two-folded sliding modes approach of pneumatic muscle actuator (PMA) position control system was proposed, and the controller was designed by using Lyapunov stability theory.
In the analog domain, the basis for the basic implementation of a two-positioncontroller is an analog comparator or an open-loop operational amplifier.