Controller design for a ball on beam process using frequency domain design methods

Sustav kuglice i klackalice primjer je inženjerskog eksperimenta za prikaz ravnoteže dinamičkih sustava. Opisan je pomoću matematičkog modela procesa koji je osnova za sintezu i analizu sustava,te je opisan u formi diferencijalnih jednadžbi koristeći Lagrangeovu metodu. Provodi se linearizacija nelinearnog matematičkog modela. Dobivena linearizirana jednadžba opisuje dinamiku kuglice i klackalice.Za projektiranje se koriste frekvencijski postupci projektiranja regulatora,te je sve provjereno simulacijski unutar Matlaba.The ball and beam system is an example of an engineering experiment used for the representation of the balance of dynamic systems. It is described by the mathematical model of the process which is considered to be the base for the system synthesis and analysis and it is described in the form of differential equations using the Lagrange’s method. The linearization of such nonlinear system is done and the dynamic of the ball and the beam is described within the resulting linearized equation. Frequency procedures of the regulator design are used for the system design and the final results are tested in the Matlab software