Design of optimal Controllers for a Ball & Beam system
S.Nagammai, K.L.N. College of Engineering; V.Akalya ,; P.Vinitha ,
BBS, State-Space model, full state feedback controller, linear quadratic controller
One of the bench mark problem used by many researchers in the area of control engineering is the Ball and Beam system (BBS) which possess severe nonlinearity and instability characteristics. The BBS connected with servo motor results in an open loop unstable system due to the presence of multiple poles at the origin. This process has the difficulty in controller design because of assumed nonlinear relation between beam angle and ball displacement. This paper deals with design methodology of full state feedback (FSFB) controller with pre compensator and the performance of which is compared with linear quadratic controller (LQC). The state feedback controller with pre compensator yields better performance in terms of transient response specifications compared with linear quadratic controller. A simulation is carried out using MATLAB to evaluate the proposed control algorithm on the modelled Ball and Beam system.
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Paper ID: GRDCF002076
Published in: Conference : International Conference on Innovations in Engineering and Technology (ICIET - 2016)
Page(s): 249 - 258
Published in: Conference : International Conference on Innovations in Engineering and Technology (ICIET - 2016)
Page(s): 249 - 258