Linearization and PI Controller Based Ball and Beam System with an Actuator DC motor

This paper presents a revised iteration of the ball and beam system (BBS) that functions as a platform for exploring innovative control methodologies in real-time. The BBS consists of a lengthy beam with a ball situated atop, and the primary objective of the control mechanism is to maintain the ball's position on the beam by manipulating the angular location of the beam. The actuator employed in this study is a direct current (DC) motor. The mathematical model of the system was derived by applying the Newton-Euler equations. Subsequently, the resulting equations were linearized using MATLAB. The efficacy of the proposed PI controller was evaluated using the linearized model of the Ball and Beam system on the MATLAB-SIMULINK platform through careful adjustment of the controller parameters; Kp, Ki, and, Kd. The simulations conducted on SIMULINK and MATLAB demonstrate the proficient real-time performance of the designed proportional and integral (PI) controller.