BALL AND BEAM MODELING USING MATLAB/SIMULINK

Abstract

This paper presents ball and beam system, this is laboratory equipment with high nonlinearity in its dynamics. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design controller to control the ball position. MATLAB/SIMULINK software program has been used to plot instant system response and to determine the system characteristics with different values of controller parameters in order to choose parameters values which obtained best performance for the system.

Keywords

• nonlinearity
• ball position
• lagrangian equation
• lever arm