Abstract
In this paper, the design of two degree of freedom controller for ball and beam system is proposed. The Quantitative Feedback Theory (QFT) constraints are used to design two PID controllers to stabilize and compensate the nonlinear system with robust stability, robust performance and more desirable time response specifications. A multi objective cost function is proposed in this work to represent the function of QFT. The Black Hole Optimization (BHO) technique is a useful method to automate the design procedure of the proposed controller. The results of simulation indicate that the suggested optimal quantitative PID controller can give a desirable performance in comparison to other controllers designed in previous work.
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