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Lab 6

This document describes Lab 6 of the TEE 451 - Control Systems course. The lab focuses on developing a state space model of the ball and beam system and designing state feedback and integral controllers. Students will model the system, design a state feedback controller to regulate the ball position to zero based on performance objectives, and add an integral controller in an outer loop to track a square wave reference signal. A formal lab report comparing the results from Labs 5 and 6 is required.

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Vu Le
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42 views3 pages

Lab 6

This document describes Lab 6 of the TEE 451 - Control Systems course. The lab focuses on developing a state space model of the ball and beam system and designing state feedback and integral controllers. Students will model the system, design a state feedback controller to regulate the ball position to zero based on performance objectives, and add an integral controller in an outer loop to track a square wave reference signal. A formal lab report comparing the results from Labs 5 and 6 is required.

Uploaded by

Vu Le
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 3

TEE 451 - Control Systems

Winter 2021

Instructor: Michael McCourt Assignment: Lab 6


Ball and Beam - Part 2

1 Introduction to Ball and Beam - Part 2


This is the second part of the Ball and Beam lab. Make sure you have completed the previous lab in full
before beginning this lab. In this lab, we will develop a state space model of the ball and beam system.
We will design a state feedback controller based on desired second order performance. This feedback
controller will be used for regulating the system state around the state and output being zero. After this,
we will design an additional integral controller for controlling to a desired location away from zero. We
will test the same square wave reference signal as in the Lab 5. As you are testing different controllers
for the same system, make sure to compare these results between the two labs.

L d

α
Θ

Rm

Figure 1: The position of the ball d(t) can be controlled by the motor angle θ(t).

2 System Modeling in the State Space


The ball and beam system can be described by the following nonlinear differential equation below.
 
J
ΣF = 0 = + m d¨ + mg sin(α) − mdα̇2
Rb2
The values and units of all parameters were given in the previous lab. In Lab 5, you found a linear transfer
function model in the following form.
β
G(s) = 2
s
The process of finding a state space model from this transfer function will be explained in the Lab 6
Instruction video on Canvas. Watch this video before proceeding with this lab. The goal is to get a
state space model where the state x1 is the ball position in meters and state x2 is the ball velocity in
meters/second.

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Control Systems Winter 2021

1. Develop a state space model where the output (ball position) is equal to the state x1 and the ball
velocity is x2 .

2. Provide the system model with matrices A, B, C, and D.

3. Find the eigenvalues of your A matrix and asses stability.

3 State Feedback Control Design and Simulation


For this section, we will design a state feedback controller. The control objectives are to have a percent
overshoot less than 5%, a settling time less than 3 seconds, and steady state error of less than 0.5 cm.
For this part of the lab, we will focus on designing the response of the system to regulate the system from
a given initial state (0.3 meters and 0 m/s) back to the zero state (0 m and 0 m/s). This is the often
referred to as the “regulation problem”.

1. Find the controllability matrix for your system and show that this system is controllable.

2. Use the second order performance approximations and the desired performance objectives to find
desired values of ζ and ωn .

3. Use the desired values of ζ and ωn to find desired pole locations.

4. Use the place function in Matlab to design a state feedback controller that meets the objective.

5. In Simulink, create the plant and add the state feedback u = −Kx.

6. Simulate this from an initial condition of x1 = 0.3 meters and x2 = 0 m/s. Include a plot of your
results showing the system output.

7. Use this plot to determine your actual percent overshoot and settling time. Compare to the objec-
tives.

8. Add a saturation block immediately before the plant with saturation limits of ± π2 . This limits the
control angle to the achievable range.

9. Record your percent overshoot and settling time. As a note, you may not meet the control objectives,
but continue with this controller.

10. We will now try to simulate this system with an input offset. Set the initial condition to x1 = 0
and x2 = 0. Use u = r − Kx with constant r = 0.3. This is an attempt to control to the desired
location of 0.3 meters. Comment on your results.

4 Output Feedback for Tracking a Reference Signal


In this part of the lab, we will solve the reference tracking problem by introducing an integral controller
in an outer loop. The outer control calculates the error between the actual output y(t) and a reference
input r(t). The integral controller reduces or eliminates steady state error between the two while the
state feedback controller regulates around the desired operating point. This approach uses the control
structure given in the figure below.

1. Create an outer feedback loop with the integral controller. Simulate with initial condition x1 = 0
and x2 = 0.

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Control Systems Winter 2021

𝑟(𝑡) 𝑒(𝑡) 𝑢(𝑡) 𝑥(𝑡) 𝑦(𝑡)


+ 𝐾𝑖 +
𝑥ሶ = 𝐴𝑥 + 𝐵𝑢 𝐶
− 𝑠 −

Figure 2: Output feedback with integral control is added to reduce tracking error between y(t) and r(t).

2. Test several values of Ki to see how this value changes performance. You may choose any Ki gain
but discuss in your report how you arrived at your choice.

3. Simulate the control system with a square wave input that alternates between 0.2 m and 0.4 m.
Adjust the period of the square wave to make sure the output settles for about 10 seconds before
switching. Run this for three full periods, i.e. three times at each set point. Plot both the reference
input and system output on the same set of axes and include in your report.

4. Comment on your results in terms of control performance, steady state error, or other control system
considerations that you observe.

5. Make sure to compare the results of this simulation to your results from both your proportional
controller and PID controller from Lab 5.

5 Lab Report
This is the second part of a two part lab. For this lab, you will individually write and turn in a formal lab
report that the explains your work for Lab 5 and Lab 6. Your lab report should be organized into sections
such as Introduction, Ball and Beam System Identification, Proportional Control Design and Simulation,
PID Control Design and Simulation, State Space Model, State Feedback Design and Simulation, State
Feedback with Integral Control and Conclusions. Make sure to discuss your design process and your
simulation results. When you are designing more than one controller for a system, make comparisons
between the controllers to explain any differences you are seeing. As this is a formal report, use formal
writing and label all figures and tables.

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