The design of a quasi-time optimal cascade controller for ball and beam system

In this paper, a methodology for designing quasi-time optimal cascade controller for ball and beam system is presented and the result is compared with LQR method as well as implemented on real system. Ball and beam system is a highly non-linear system, its parameters are difficult to estimate accurately and easily affect by disturbance. In designed method, a mathematical model describing the system is built, including a motor that creates a rotation of beam and is divided into two subsystems when synthesizing the cascade controller for the system. The first floor is the beam subsystem with the output is the angle as the set value for the second floor, which is ball subsystem. The controller is synthesized for each subsystem based on the quasi-time optimal control. The advantage of this method is the synthesizing control law with non-linear system. The simulation results show the effectiveness of the proposed design.