Intelligent Dynamic Inversion Controller Design for Ball and Beam System

The Ball and beam system(BBS)is an attractive laboratory experimental tool because of its inherent nonlinear and open-loop unstable properties.Designing an effective ball and beam system controller is a real challenge for researchers and engineers.In this paper,the control design technique is investigated by using Intelligent Dynamic Inversion(IDI)method for this nonlinear and unstable system.The proposed control law is an enhanced version of conventional Dynamic Inversion control incorporating an intelligent control element in it.The Moore-PenroseGeneralized Inverse(MPGI)is used to invert the prescribed constraint dynamics to realize the baseline control law.A sliding mode-based intelligent control element is further augmented with the baseline control to enhance the robustness against uncertainties,nonlinearities,and external disturbances.The semi-global asymptotic stability of IDI control is guaranteed in the sense of Lyapunov.Numerical simulations and laboratory experiments are carried out on this ball and beam physical system to analyze the effectiveness of the controller.In addition to that,comparative analysis of RGDI control with classical Linear Quadratic Regulator and Fractional Order Controller are also presented on the experimental test bench.

Control of Linear Servo Carts with Integral-Based Disturbance Rejection

This paper describes a system designed for linear servo cart systems that employs an integral-based Linear Active Disturbance Rejection Control(ILADRC)scheme to detect and respond to disturbances.The upgrade in this control technique provides extensive immunity to uncertainties,attenuation,internal disturbances,and external sources of noise.The fundamental technology base of LADRC is Extended State Observer(ESO).LADRC,when combined with Integral action,becomes a hybrid control technique,namely ILADRC.Setpoint tracking is based on Bode’s Ideal Transfer Function(BITF)in this proposed ILADRC technique.This proves to be a very robust and appropriate pole placement scheme.The proposed LSC system has experimented with the hybrid ILADRC technique plotted the results.From the results,it is evident that the proposed ILADRC scheme enhances the robustness of the LSC system with remarkable disturbance rejection.Furthermore,the results of a linear quadratic regulator(LQR)and ILADRC schemes are comparatively analyzed.This analysis deduced the improved performance of ILADRC over the LQR control scheme.