BALL AND BEAM

Problem statement
Designing a simple practical system which
is inherently unstable,
so that we can implement modern control
techniques, and compare with the existing
controlling techniques already available.

Introduction
Theball and beamsystem consists of a
- long beam which can be tilted by a servo or
electric motor together with a ball rolling back
and forth on top of the beam.
It is a simple system which is open-loopunstable
To stabilize the ball,
- acontrol systemwhich measures the position of
the ball
-and adjusts the beam accordingly must be used

Physical setup

System model
System Diagram
Dynamic equations
A mathematical model is obtained using
1. Newton-Euler and
2. Langrangian analysis
Parameter Identification

Controller
Block diagram
r

Controlle
r

C(s)

Plant

P(s)

Ball and beam system is a double

integrator
Controller: PID

Components required
Arduino Uno R3
Servo motor
Position sensor(ultrasonic sensor)

Final output
A practical system is designed which can
- follow setpoint
- can perform disturbance rejection

Application
Close to the real dynamics found in aerospace systems.
It is an excellent tool for demonstrating modern control
ideas since its dynamics are simple.
It is not a model of a real system,
but it is typical of the dynamics that are found in
many of the most challenging areas of modern control.