Classic Continuous-Time Control Methods Applied to the Ball and Beam System

This document presents the implementation, modeling, identification and control in continuous-time of a ball and beam system. The prototype is different from the commercial ones in the sense that the coupling with the motor is in the center of the beam, rather than in one of its ends. The model proposed is completely linear and from it a continuous-time tracking with feedback state, as well as loops with PD and PID controllers were designed. Practical and simulated data are presented, showing ball position control. Some comments about the controllers implementation are presented. Finally, some conclusions are drawn.