Model Free Adaptive Switching Control of the Ball and Beam System

Control of the ball and beam system is of high importance in the space fields because of its similarity to the control of air craft. Different control theories including classical PID control and modern ones such as fuzzy logic has been designed for it. Nonlinearity in dynamics and open-loop unstable property of the ball and beam system is the motivation of this paper to apply a model free adaptive control in order to prevent facing the problems of model based approaches. Here, the unfalsified control by a modification in its algorithm is applied and it is illustrated that by proper selection of candidate controllers and without the need to insert them in the loop, it can stabilize the system without any prior information about the plant, even if unstabilizing controllers exist in the candidate set

Keywords:

model free adaptive control , switching control , unfalsified control , ball and beam system