Synchronization of two ball and beam systems with neural compensation

Abstract Ball and beam system is one of the most popular and important laboratory models for teaching control systems engineering. There are two problems for ball and beam synchronized control: 1) many laboratories use simple controllers such as PD control, and theory analysis is based on linear models, 2) nonlinear controllers for ball and beam system have good theory results, but they are seldom used in real applications. Almost nobody realize synchronized control for ball and beam systems. In this paper we first use PD control with nonlinear exact compensation for the cross-coupling synchronization. Then a RBF neural network is applied to approximate the nonlinear compensator. Two types of controller are proposed: parallel and serial PD regulators. The synchronization stability of two ball and beam systems are discussed. Real experiments are applied to test our theory results.

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