Control of A Cart-Ball System Using State-Feedback Controller
A cart-ball system is a challenging system from the
control engineering point of view. This is due to the nonlinearities,
multivariable, and non-minimum phase behavior present in this
system. This paper is concerned with the problem of modeling and
control of such system. The objective of control strategy is to place
the cart at a desired position while balancing the ball on the top of the
arc-shaped track fixed on the cart. A State-Feedback Controller
(SFC) with a pole-placement method will be designed in order to
control the system. At first, the mathematical model of a cart-ball
system in the state-space form is developed. Then, the linearization of
a model will be established in order to design a SFC. The integral
control strategy will be performed as to control the cart position of a
system. Simulation work is then performed using
MATLAB/SIMULINK software in order to study the performance of
SFC when applied to the system.
[1] Jan Jantzen, Analysis of a Pendulum Problem, Tech. Report, Technical
University of Denmark, Denmark, 1999.
[2] J.J.E Slotine and W. Li, Applied Nonlinear Control, Prentice Hall, USA,
1991.
[3] Jorgensen V., "A Ball-Balancing System For Demonstration of Basic
Concepts In State Space Control Theory", Int. Journal of Elec. Eng.
Edu., pp. 367-376, 1974.
[4] Norman S. Nise, Control System Engineering, Prentice Hall, USA, 2004.
[5] Mohd Shakir Md Saat, Control of a Cart-Ball System: Comparison
Between Model Based and Fuzzy Logic Controllers, Master-s Thesis,
Universiti Teknologi Malaysia, 2006.
[1] Jan Jantzen, Analysis of a Pendulum Problem, Tech. Report, Technical
University of Denmark, Denmark, 1999.
[2] J.J.E Slotine and W. Li, Applied Nonlinear Control, Prentice Hall, USA,
1991.
[3] Jorgensen V., "A Ball-Balancing System For Demonstration of Basic
Concepts In State Space Control Theory", Int. Journal of Elec. Eng.
Edu., pp. 367-376, 1974.
[4] Norman S. Nise, Control System Engineering, Prentice Hall, USA, 2004.
[5] Mohd Shakir Md Saat, Control of a Cart-Ball System: Comparison
Between Model Based and Fuzzy Logic Controllers, Master-s Thesis,
Universiti Teknologi Malaysia, 2006.
@article{"International Journal of Engineering, Mathematical and Physical Sciences:62397", author = "M. Shakir Saat and M. Noh Ahmad and Dr and Amat Amir", title = "Control of A Cart-Ball System Using State-Feedback Controller", abstract = "A cart-ball system is a challenging system from the
control engineering point of view. This is due to the nonlinearities,
multivariable, and non-minimum phase behavior present in this
system. This paper is concerned with the problem of modeling and
control of such system. The objective of control strategy is to place
the cart at a desired position while balancing the ball on the top of the
arc-shaped track fixed on the cart. A State-Feedback Controller
(SFC) with a pole-placement method will be designed in order to
control the system. At first, the mathematical model of a cart-ball
system in the state-space form is developed. Then, the linearization of
a model will be established in order to design a SFC. The integral
control strategy will be performed as to control the cart position of a
system. Simulation work is then performed using
MATLAB/SIMULINK software in order to study the performance of
SFC when applied to the system.", keywords = "Cart-Ball System, Integral Control, Pole-PlacementMethod, State-Feedback Controller.", volume = "3", number = "2", pages = "146-6", }