Under-actuated systems belong to the class of nonlinear systems that have fewer actuators than the degrees of freedom. The examples include mobile robots, legged robots, air crafts, helicopters and underwater robots. This work comprehensively discusses the design of linear and fuzzy logic controllers for such systems with ball on beam as the test bed. MATLAB/Simulink environment has been used to validate the designed controllers.

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Umar Farooq did his B.Sc. and M.Sc. both in Electrical Engineering from U.E.T Lahore Pakistan. He is currently with Department of Electrical Engineering, University of The Punjab Lahore. His research interests include the application of soft computing techniques to problems in Robotics and Power Electronics.