H_∞ Design For The Ball And Beam System Controlled With RTW

Ball and Beam system for teaching experiment designed laboratory equipment, It is control of a classical control targets. The system is a very important characteristic is the open-loop unstable, Its control over the visual reaction controller control. Ball and Beam system as a typical teaching and experimental research equipment, Can be used for the realization of the existing control theory and methods, Can be used as new theories and methods of testing tools. Therefore the system of clubs both at home and abroad and scholars concerned.This paper clubs start with the first part of the campaign equation, the authors analyze the clubs physical characteristics, Lagrange clubs established a system of mathematical models, design reduced observers, and pole configuration. Using MATLAB/Simulink/RTW real-time programs on the system for the development of clubs, using a custom device driver modules instead of mathematical models for real-time control. Pole Placement test in real-time control of RTW effect experiment proved the feasibility of this approach. RTW design of real-time control is designed to control legal research, can be taken to design the control law. Now, out of the system, bringing their software to the methods used clubs implementation of the system stability control.In the second part of the system analysis clubs uncertainty and disturbance. In the issue of control of a class standards-disturbance, the disturbance clubs in the design model. According to the performance indicators request weighting function, using MATLAB functions obtained generalized objects, and controller. Because high-order controller, in reality will be difficult to achieve. Therefore, the controller simplified, eliminating some high-frequency, and then through a variety of system simulation analysis shows that the design is successful, successful suppression of interference and has a good robust stability. Finally compare the two control methods, arrive at these two control methods to achieve the control clubs, can inhibit the effects of friction. For clubs in RTW system under the realization of the design, right from the clubs to bring their own system software straitjacket, settlement of the original can bring their own software from the state feedback control, but now they can do output feedback control.