Stability Analysis of Ball and Beam System using PID Controller

Abstract

The ball and beam system is a piece of laboratory equipment with a lot of nonlinear dynamics. The main ideas are to exhibit Ball and Beam System (BBS) with integrating nonlinear aspects and coupling impact, and to develop a Corresponding Indispensable Subordinate (PID) controller to regulate the ball position. An Arduino microcontroller is used in the system. It compares the ball location to the optimal separation, which can be chosen by the client, using an ultrasonic separation sensor. PID calculation was used in Arduino to convert the difference in signal between the desired and actual situation by controlling the signal. The Arduino delivers the control signal to DC servomotor, which revolves and adjust the ball position to reach set point. MATLAB programming were used to depict the moment system reaction by connecting Arduino to a PC and determining system attributes using various controller parameter estimations in order to select parameter values that gave the system the greatest performance.