Stabilisation of Ball and Beam Module Using Relatively Optimal Control

Nidya. M. V., Jeevamma Jacob, and Mija S. J.
National Institute of Technology, Calicut, India
Abstract—In this paper, a relatively optimal controller (ROC) is designed for stabilisation of ball and beam module. It is a nonlinear, underactuated bench mark system with two degrees of freedom. The controller has a dynamic structure and is designed by solving a convex optimisation problem. All the constraints associated with the system are incorporated for controller design. The performance analysis of closed-loop system under the effects of parametric uncertainties, external disturbances and perturbations in initial conditions are incorporated.

Index Terms—nonlinear, underactuated, optimal control, stabilisation, parameter variation, disturbance

Cite: Nidya. M. V., Jeevamma Jacob, and Mija S. J., "Stabilisation of Ball and Beam Module Using Relatively Optimal Control," International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 2, pp. 265-272, March 2019. DOI: 10.18178/ijmerr.8.2.265-272
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