Modelling and Control of Ball and Beam System using Coefficient Diagram Method (CDM) based PID controller

We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

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ROBUST PID CONTROLLER DESIGN FOR BALL AND BEAM SYSTEM USING CLASSICAL LOOP-SHAPING TECHNIQUE

Control and Intelligent Systems ◽

10.2316/journal.201.2016.1.201-2717 ◽

2016 ◽

Vol 44 (1) ◽

Author(s):

Santosh Kumar Choudhary

Keyword(s):

Pid Controller ◽

Controller Design ◽

Shaping Technique ◽

Beam System ◽

Loop Shaping ◽

Pid Controller Design ◽

Ball And Beam System

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Design of Decentralized PID Controller with Coefficient Diagram Method Based on Inverted Decoupling for TITO System

2018 International Electrical Engineering Congress (iEECON) ◽

10.1109/ieecon.2018.8712222 ◽

2018 ◽

Author(s):

Chananchai Wutthithanyawat ◽

Santi Wangnippamto

Keyword(s):

Pid Controller ◽

Diagram Method ◽

Coefficient Diagram Method

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Mixed Sensitivity Design of PID Controller-Applied to a Ball and Beam System

Volume 4A: Dynamics, Vibration, and Control ◽

10.1115/imece2017-72084 ◽

2017 ◽

Author(s):

Tooran Emami

Keyword(s):

Pid Controller ◽

Time Delays ◽

Uncertainty Modeling ◽

Pid Controllers ◽

Perturbed System ◽

Beam System ◽

Communication Time ◽

Uncertain Time ◽

System Transfer Function ◽

Ball And Beam System

This paper presents a set of algorithm for all achievable coefficients of Proportional Integral Derivative (PID) controllers that stabilize the system and satisfy a mixed sensitivity constraint with an uncertain time delay. Additive uncertainty modeling is used to describe the uncertainty of perturbed system. Additive uncertainty modeling performs much faster response with the time running of computer programming in MATLAB. This technique is applied to a ball and beam system transfer function with the assumption of uncertain communication time delays in the system process. The goal of this application is to regulate a ball position on a beam and also satisfy the mixed sensitivity constraint.

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