Position controller design and implementation of ball and beam system with SMC and PD control methods

Abstract

Today, several methods are proposed and tested for controlling many nonlinear and unstable systems. This study employed the sliding mode control (SMC) and proportional-derivative (PD), which are used to control the position and modeling of ball and beam system that is a fundamental system used to test the control methods. Such systems are nonlinear and unstable due to their nature. Therefore, these systems are affected by external disturbances and this leads to a decrease in the control quality. The study tested the system by utilizing the classical PD and SMC methods, and the results were assessed by employing the Integral-Square-Error (ISE) performance criterion. The system results were provided as graphics and tables. Besides, the results were compared and analyzed.

Delta Tipi Bir Paralel Robotun Hareket Kontrolü ve Analizi

“…The Sliding Mode Control (SMC) control method was used in motion control. This method was utilized in different works in the literature [30][31][32][33][34][35][36]. The goal of the control method is that the output value of the robot follows the reference value.…”