Application Of Robust Control To Ball And Beam System

The development of control theory, from classical control theory to modern control theory and then to robust control theory, has almost trans the whole twentieth century. Classical control theory and modern control theory are effective to those systems which are comparatively simple and have minor changeable parameters. But with the application area of control system becoming bigger and bigger, control plants becoming more and more complex, control demand becoming stricter and stricter together with uncertainties of system and environment, classical control theory and modern control theory can't satisfy with the real demand of the science development.Ball and beam system is a nonlinear and unstable system, which is designed for experiments of basic control curriculum such as feedback control. In control field, there are so many difficult problems to overcome in modeling and controller design for nonlinear and unstable systems, which makes it necessary to do research in the lab first. But most unstable systems are all very dangerous in practice, which becomes the main obstacle for doing research in the lab. However, the ball and beam system is just the best experiment tool of solving this contradiction. It is simple, safe and has all important dynamic characteristics of nonlinear and unstable systems.After deep study of robust control theory, for the control plant of the ball and beam system, by modeling and using several different arithmetic in robust control theory such as pole placement, optimal transient stabilization, optimal robust stabilization, the corresponding controllers are designed respectively. Simulations under Simulink environment of Matlab have verified the control performance of close loop system. And then the control arithmetic is fulfilled on computers. It gets satisfactory control effects.