Bir Top ve Çubuk Sisteminin Denetimi

Abstract

In this work control of a ball and beam system is considered. Ball and beam system is a nonlinear and unstable system by nature. For this reason, it is an often preferred experiment system in applications of linear and nonlinear control methods. In this work, pole placement control and sliding mode control methods have been applied to a ball and beam system. Simulation and real-time experiments have been used to assess the performance of the control system. Full-order and reduced-order observers have been designed for system states that could not be measured.

The system has been controlled both in continuous-time and discrete-time with pole placement control. Comparisons of these results have shown that continous-time control yields a more desirable performance. Disturbance observer and integral action methods have been utilized to reduce the impact of nonlinear disturbances due to the nature of the system, such as friction or dead zones, on system performance.

Results obtained in this work indicate that both pole placement control and sliding mode control methods yield acceptable system performance. Among all methods employed, continuous-time pole placement control based on disturbance estimation provides the best system performance.