control-systems-principles.co.uk. Ball and Beam 2: Robust Control
BALL AND BEAM 2: Robust Control
Mark Readman, Visiting Scientist, control-systems-principles.co.uk
ABSTRACT, This is one of a series of white papers on systems modelling, analysis and
control, prepared by Control-Systems-Principles.co.uk to give insights into important
principles and processes in control. In control systems there are a number of generic
systems and methods which are encountered in all areas of industry and technology. These
white papers aim to explain these important systems and methods in straightforward terms.
The white papers describe what makes a particular type of system/method important, show
how it works and then demonstrates how to control it. The control demonstrations are
performed using models of real systems designed by Peter Wellstead, and which have been
developed for manufacture by TQ Education and Training Ltd in their CE Range of
equipment. This white paper is about the application of robust control to the Ball and Beam
1. What is this White Paper About?
Only a brief example of controller design was given in the ball and beam white paper published
previously. To compensate for this omission, this further white paper has been written to give some
better notes on control of the ball and beam. This white paper concerns one of the most popular robust
controller design methods and describes its use for the classic ball and beam experiment. The controller
design method used is the McFarlane-Glover technique for robust loop shaping control. This controller
maximizes the closed-loop tolerance to coprime factor uncertainty. It has been argued that uncertainty
modeling via coprime factorization is a practical approach to uncertainty modeling. Since the ball and
beam contains a number of uncertainties, good results can be expected from the McFarlane-Glover
method applied to this system.
2. Robust Loop Shaping Contro