Modelling and simulation of magnetically suspended balance beam system

Abstract

Magnetically Suspended Balance Beam (MSBB) system is a balancing system that uses two magnetic coils to balance the beam. The use of magnetic coils, introduce the nonlinearities which is very difficult to control with conventional controllers such as Proportional Integral Derivative (PID) controller. To overcome this problem various controllers have been put into trial. In this project, Integral Sliding Mode Controller (ISMC) is used to control the balance beam. The integral compensator is used for achieving a zero steady-state error under an external step disturbance force. Lastly, using a computer simulation, the performance of designed ISMC is evaluated and compared with pole placement technique. The result shows that, ISMC can perform better compare to pole placement technique in controlling the balanced beam