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...
The ball and beam as viewed from the front. We will consider the angle specified to the servo motor as the control input. Thus along with ignoring the dynamics of the motor, we can also ignore the mass of the beam. The Lagrangian is computed as the difference between the kinetic and pot...
In order to control proposed system, a single chip microprocessor as control kernel with basic level electronics is designed and implemented. The system's mathematic model is derived by Lagrangian function. Using backstepping procedure we reconstruct the controller for proposed system. Oscillatory stable...
414 N.B. Hui and P. Sharma 2.1 System Equations The Lagrangian equation of motion for the ball is given by the following: h ¼ J R 2 þM €r þMg sin a ÀMr _ a ð Þ 2 ð1Þ Linearization of this equation about the beam angle, α = 0, gives us the following ...
This paper describes how to obtain the equations of motion for the Ball and Beam process. There are two different methods for obtaining equations of the model. One of them is derived with simple mathematic equations using Newton's second law and another through the use of ...
In order to control the ball's position, a PID controller as non-model-based control strategy was presented in this study. To obtain the dynamics of ball and beam system, Euler–Lagrangian approach is used. The system's prototype was built using UV sensor as feedback network; servomotor as...
Furthermore, it has been presumed that the ball and the beam remain in constant contact and that there is no slipping during the ball’s rolling on the beam. The recommended system parameters can be found in Table 1. The Lagrangian method has been widely used in model-based research on ...
In this study, an intelligent pneumatic actuator was employed to adjust the angle of the beam, which presents additional challenges for the control system. The system was developed utilizing multiple techniques, including Newton’s second law, the Lagrangian method, and conversion to transfer function...