Real time control of ball and beam system with model reference adaptive control strategy using MIT rule

Author

Jain, Paril ; Nigam, M.J.

Author_Institution

Dept. of Electron. & Commun. Eng., Indian Inst. of Technol., Roorkee, Roorkee, India

fYear

2013

fDate

26-28 Dec. 2013

Firstpage

1

Lastpage

4

Abstract

During real time control of a dynamic system, one needs to design control systems with advanced control strategies to handle inherent nonlinearities and disturbances. This paper deals with the designing of a model reference adaptive control system with the use of MIT rule for real time control of a ball and beam system. This paper uses the gradient theory to develop MIT rule in which one or more parameters of adaptive controller needs to be adjusted so that the plant could track the reference model. A linearized model of ball and beam system is used in this paper to design the controller on MATLAB and the designed controller is then applied for real time control of ball and beam system. Simulations carried on SIMULINK and MATLAB show good performance of the designed adaptive controller in real time.

Keywords

control nonlinearities; control system synthesis; gradient methods; linearisation techniques; model reference adaptive control systems; nonlinear dynamical systems; MATLAB; MIT rule; MRAC; SIMULINK; adaptive controller design; ball-and-beam system; control systems design; dynamic system; gradient theory; inherent disturbance handling; inherent nonlinearity handling; linearized model; model reference adaptive control system; real time control; Adaptation models; Adaptive control; DC motors; Mathematical model; Real-time systems; Servomotors; Adaptive controller; MIT rule; ball and beam system; gradient theory; model reference adaptive controller; real time control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence and Computing Research (ICCIC), 2013 IEEE International Conference on

Conference_Location

Enathi

Print_ISBN

978-1-4799-1594-1

Type

conf

DOI

10.1109/ICCIC.2013.6724180

Filename

6724180