Intelligent Control And Its Application In Ball And Beam System

The Ball and Beam system is a complicated muti-variable system, it usually to test the effect of the control algorithm. So researching the applications of the Intelligent control theory in Ball and Beam system can provide a effective control algorithm for a type of complicated non-linear system, and provide a theory basement for the manufacture of the Ball and Beam system.Firstly in this thesis, we establishing of the mathematic model of the Ball and Beam system by Lagrangian equation. After that we linearize the Ball and Beam system in a small range of the equilibrium point and design a controller of state feedback algorithm, hi this way, we realize the stability of the Ball and Beam system. But when the position of ball and the angel of beam change to a large range, the system change to be instability.By the ordinary input-output linear algorithm, we can not realize the full-scale linearization, so we provide the approximate input-output linear algorithm to full-scale linear the Ball and Beam system and design the controller to the stability of the system.Thirdly, we design the neural network controller by the the neural network algorithm. It realize the stability control by optimize a provided performance target.Fourthly, because the fuzzy neural network algorithm can form the fuzzy rule and fuzzy member function, we construct the fuzzy neural network controller by sample date. And then we combine the state feedback algorithm and the fuzzy control algorithm, design the fuzzy controller based on the based on fuzzy state model. By inducting the fuzzy information the stability range of the Ball and Beam system is largely improved.