Fractional Order Feedback Control of a Ball and Beam System

In this paper, fractional order feedback control of a ball
beam model is investigated. The ball beam model is a particular
example of the double Integrator system having strongly nonlinear
characteristics and unstable dynamics which make the control of
such system a challenging task. Most of the work in fractional order
control systems are in theoretical nature and controller design and its
implementation in practice is very small. In this work, a successful
attempt has been made to design a fractional order PIλDμcontroller
for a benchmark laboratory ball and beam model. Better performance
can be achieved using a fractional order PID controller and it is
demonstrated through simulations results with a comparison to the
classic PID controller.

• Santosh Kr. Choudhary

• Fractional order calculus
• fractional order controller
• fractional order system
• ball and beam system
• PIλDμ controller
• modelling
• simulation.

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