Analysis and synthesis of ball position in a ball and beam system

Glavni je zadatak ovog rada analiza i sinteza sustava upravljanja korištenjem MATLAB programa. Najprije je proveden opis procesa koji uključuje određivanje matematičkog modela za zadani proces. Nakon što je bila utvrđena nelinearnost procesa izvršena je linearizacije istog. Potom je slijedila analiza procesa grafoanalitičkom metodom, odnosno krivuljom mjesta korijena. Analizom je utvrđena nestabilnost procesa, stoga je bilo potrebno projektirati takav regulator koji će ga stabilizirati. Za regulator odabran je regulator s faznim prethođenjem. Sinteza regulatora se provodi na temelju zahtjeva korisnika unešenih u korisničko sučelje izgrađenog u App Designeru. U konačnici, izvršena je simulacija kojom se pokazalo primjer korištenja sučelja te je kroz dva primjera pokazano kako su zadovoljena tražena dinamička vladanja.The main task of this paper is the analysis and synthesis of a control system using MATLAB program. Firstly, a description of the process was made, which included determining a mathematical model for the given process. After nonlinearity of the process was determined, its linearization was performed. Then followed the analysis of the process using graphoanalytical method, ie the root locus diagram. The analysis confirmed the instability of the process, so it was necessary to design such a controller to stabilize it. A phase lead controller was selected. The design of the controller is performed based on the user requirements entered in the user interface built in the App Designer. Finally, a simulation was performed which showed an example of using the interface and showed through two examples how the dynamic requirements of the control system were met