Abstract
Consider the situation represented in Fig. 14.1. It is a ball that rolls inside a channel on a beam. The beam angle is modified by a permanent magnet brushed direct current motor and this produces the ball movement by the effect of gravity. The objective of the mechanism control is to stabilize the ball at some desired position on the beam.
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- 1.
Note that this model can also be expressed in terms of z: just replace \(\ddot z=\ddot x\).
- 2.
In all the experiments that are presented in the remainder of this chapter, the ball position x is measured from the left end of the beam.
- 3.
See Sect. 5.2.8 for instructions on how these simulations can be performed.
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Hernández-Guzmán, V.M., Silva-Ortigoza, R. (2019). Control of a Ball and Beam System. In: Automatic Control with Experiments. Advanced Textbooks in Control and Signal Processing. Springer, Cham. https://doi.org/10.1007/978-3-319-75804-6_14
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