Ball and beam balancer control using microcontroller

Abstract

Ball and beam balancer system is the most popular laboratory model used in control system due to its simple modeling and low in cost. However this system is an open loop of unstable. Due to this problem, controllers need to be designed to stabilize the system. A ball will roll on the top of long beam with an acceleration that is proportional to the angle of the beam. The important objective of the system is to regulate the position of the ball along the beam to its reference position which is to center of the beam. This project will be implemented in hardware using PIC18F452 microcontroller. Controller that will be used in this project is PID controller which has been verify before using MATLAB. The PID controller will be programmed using Mikroelektronika software and then will be embedded into microcontroller. Programmer will be used to interface between the software and hardware.