Modeling and controller design of a ball and beam system

Chua, Chong Liang (2009) Modeling and controller design of a ball and beam system. [Final Year Project Report] (Unpublished)

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Abstract

Ball and beam system can be found in most university control labs. It is one of the most popular laboratory models for control system. The system consists of ball, beam, DC motor and several sensors. There are two configurations of ball and beam system which is the beam is support in the middle and both side. The ball is rolls on the beam freely. This cause the system becomes open loop, unstable and nonlinear. The mathematical model for ball and beam system is inherently nonlinear but may be linearized around the horizontal region. This simplified linearized model, however, still represents many typical real systems, such as horizontally stabilizing an airplane during landing and in turbulent airflow. Many control methods can be applied to this system problem. In this project, PID and State Space control methods are used to solve this problem. The optimum performance result obtained from PID and State Space control methods are compared.

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