Control Of Ball And Beam: Comparison Between Lead/Lag Compensator And State Feedback Controller (SFC)

Azman , Amiruddin (2008) Control Of Ball And Beam: Comparison Between Lead/Lag Compensator And State Feedback Controller (SFC). Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The significance problem of the ball and beam system is that it is a simple system which is open-loop unstable. Even if the beam is restricted to be very nearly horizontal, without active feedback, it will swing to one side or the other, and the ball will roll off the end of the beam. Two types of the controllers will be synthesized in order to control the system. One is the model based controller lead/lag compensator controller and second is state feedback controller. The first stage is to develop the mathematical model of a ball and beam system based on the lagrangian equation. Then, the root locus method will be applied to get the closed loop so that the design of the State-Feedback Controller can be accomplished. The second stage is to design the State Feedback Controller to be applied to the system. The fmal stage is to carry out the simulation work of both controllers for comparison pwpose. The simulation work is done using a MATLAB/SIMULINK platform.

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