PID control of ball and beam system – A real time experimentation

Abstract

Ball and beam system is a nonlinear, open loop unstable and second order integrating process which is widely used as a test bed for evaluating various control strategies. The stabilization of ball and beam system by Proportional, Integral and Derivative (PID) controller is investigated. Simple internal model control (SIMC) based PID controller and H infinity controller are deliberately employed for stabilizing the ball at a desired position on the beam. The simulation and experimental results which demonstrate the dynamic behaviour of ball and beam system, reveals the effectiveness of controller in industries for any second order integrating processes.