PID, I-PD and PD-PI Controller Design for the Ball and Beam System: A Comparative Study

This article addresses the design of PID, I-PD and PD-PI controller for the ball and beam system. The ball and beam system, a non linear one, has been linearised around the equilibrium point to obtain the linearised model transfer function. The PID controller has been tuned using ITAE criterion and the same set of parameters has been utilized for designing both the I-PD and PD-PI controller. The performance of the system with the above mentioned controllers has been compared. The result of comparison reveals that PD-PI controller outperforms both the PID and I-PD controller. In future, for improving the performance of a system, PD-PI controller can be designed for other class of plants.