the ball and beam system is one of the most popular laboratory setups for control education. in this paper, we design a fuzzy pd cascade controller for a ball and beam system using asexual reproduction optimization (aro) technique. the ball & beam system consists of a servo motor, a grooved beam, and a rolling ball. this system utilizes a servo motor to control ball’s position on the beam. chan...

The ball and beam system is one of the most popular laboratory setups for control education. In this paper, we design a fuzzy PD cascade controller for a ball and beam system using Asexual Reproduction Optimization (ARO) technique. The ball & beam system consists of a servo motor, a grooved beam, and a rolling ball. This system utilizes a servo motor to control ball’s position on the beam. Chan...

This paper studies the control of the ball-and beam system by different controllers. Many nonlinear controllers for ball and beamsystem can achieve in some cases asymptotic stability.On the other hand, many laboratories useProportional Integral Derivative control for the ball and beam system, but theory analysisis based on a linear approximate model. Therefore, some methods of controlfor the ba...

The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics. The aims of this research are to model the ball and beam system considering nonlinear factors and coupling effect and to design controllers to control the ball position. The LQR is designed considering two Degrees-of-Freedom and

This paper describes a novel strategy to use a digital camera as a position sensor to control a ball and beam system. A linear control law is used to position the ball at the desired location on the beam. The experiments show how this method controls the positioning of the ball in any location on the beam using a camera with a sampling rate of 30 frames per second (fps), and these results are c...

Ball and beam system is one of a nonlinear and unstable control system, thus providing a challenge to the control engineers and researchers. There are a number of controllers which have been studied for years that can be used to stabilize the ball and beam system. This paper investigates the performance of few different control approaches that consist of conventional controller, modern controll...

Abstract The ball and beam system is one of the most popular laboratory experiments for control education. There are two problems for ball and beam control: (1) many laboratories use simple controllers such as PD control, but theory analysis is based on linear models, and (2) nonlinear controllers for the ball and beam system have good theory results, but they are seldom used in laboratories. L...

The global stabilization of the classical ball & beam has been approached in the literature through saturated control which impose restrictions on the reactivity of the closed loop. In this work a modified design for the classical ball & beam system is presented. The beam is driven by two actuators (see figure 1). In comparison to the classical system, this design offers an additional degree of...

I designed a beam to balance and move a chrome steel 1.25” diameter ball, to a desired position/waveform through time, stably and with high performance behavior. I tested the ball to make sure it could retain its central position, as well as following different frequency sine and square waves of desired position, with or without human disturbances, and it succeeds in these tasks, up to a sine w...

In this paper we design a linear dynamic output feedback controller for a ball and beam system based on an iden-tiied neural state space model. This is done by applying dynamic backpropagation, constrained by NL q internal or I/O stability conditions. The performance of the controller has been tested on a real ball and beam setup .