Modelling and Adaptive Control of Ball and Beam System

Designing a model reference adaptive controller for control of a ball and beam system is studied in this paper. For this end, the Lyapunov direct method is used to develop adaptive controller so that the plant could track the reference model. A linearized model of the ball and beam system is used in this paper to design the controller on MATLAB and the designed controller is then applied for control of ball and beam system. Simulations results show good performance of the designed adaptive controller.

Keywords:

Ball and Beam System , Model Reference Adaptive Control (MRAC) , State Space Model , Simulation.