Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on the Position Control of a Ball-Balancing System

볼 밸런싱 시스템의 위치 제어에 관한 연구

  • 최수영 (성균관대학교 전기.전자.컴퓨터공학부) ;
  • 최군호 ((주)한미 기술연구소) ;
  • 박기헌 (성균관대학교 전기.전자.컴퓨터공학부)
  • Published : 1999.07.19
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Abstract

Ball-balancing control systems are ideal to demonstrate the design and hardware implementation Procedures of optimal controllers based on modern control theory. This paper presents the design of an $H_2$ optimal controller based on the generalized plant model of the ball-balancing system. The problem of balancing a metal ball on the midpoint of a beam is ultimately related to a regulating problem. So, the designed controller is correspond to this problem. The controller was experimented by DSP(digital signal processing) equipments and simulated by MATLAB. The performance of controller was verified through the experiments.

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