Design and implementation of visual servoing control for ball and beam system

Tuning of Ball and Beam System using Cascade Control

“…As we shall demonstrate, cascade control can be usefully applied to any process where a measurable secondary variable directly influences the primary controlled variable through some dynamics [6]. We will also demonstrate that despite frequent literature statements to the contrary, inner loop dynamics do not have to be faster than the outer loop dynamics [9]. However, the traditional cascade structure and tuning methods must be modified in order for cascade control to achieve its objectives when the inner loop process has dynamics that are on the order of, or slower than, the primary process dynamics With latest technological advancement in control systems and embedded system we can use image sensors to generate real time process parameters instead of using multiple sensors, with the use of image processing application of required control action in a cascade PID loop is possible with the help of an acting real time embedded system with near to 0 delay in process.…”

“…With accordance to ball beam system's non linearity disturbances are also caused by mutation and noise of the system [9]. Dealing with MIMO system an image processing unit is created using open cv and camera as the secondary controller to provide adaptive feedback control, distance of deviation of the ball on the beam is them analyzed with ultrasonic sensor's output to provide a better control action which leads to a better control and stabilized effect on the system.…”

Control of a Modified Ball and Beam System Using Tracking System in Real Time with a DC Motor as an Actuator

“…In [3] was used a pole placement control in the ball and beam system, in [4]was implemented a fuzzy approach and [5]presented PID (proportional, integral and derivative) and LQR (Linearquadratic regulator) technics. Another important fact about the ball and beam is that due to the simplicity of the plant, several authors present some changes in the model, e.g.in [6] the actuation system is changed,in [7], [8], [9] different types of sensors are used, as well as this work, that presents a change in the plant. This paper presents a continuation of the studies seen in [10] and [11], which the objective is to control a modified ball and beam using atracking control with entire eigenstructure assignment in real time using a DC motor as actuator.…”