Simulação e implementação de um Controlador para o sistema Ball and Beam utilizando Feedback Linearization

Abstract

This work presents the construction of a Ball and Beam system and the design of a nonlinear controller applied to it. This problem consists of controlling the position of a sphere that moves over a bar, keeping it at the desired set-point. Based on the system model, it was designed a Feedback Linearization controller capable of stabilizing the system and, thus, controlling the sphere in the desired position. The controller was firstly validated in simulation and then was embedded in a microcontroller to control the real system.