Quantitative feedback theory based control of ball and beam system with parametric uncertainty

This paper presents quantitative feedback theory (QFT) based control and tracking of ball and beam system. QFT is a frequency domain approach using Nichols chart. This technique achieves desired robust design over a specified range of plant uncertainty. QFT is used for the design of robust controllers for the plant with uncertainties in the parameters, input/output disturbances and noises. Ball and beam system with parametric uncertainty is defined in state space form using QFT control toolbox and templates are generated. Then, based upon the performance and tracking specifications, bounds are determined. After determining the bounds, controller and prefilter are designed which fulfill the necessary control and tracking requirements. Additionally, a first order sliding mode controller (SMC) is intended for the comparison purpose.