On the sliding mode control of a Ball on a Beam system

This paper investigates the sliding mode control of the Ball on a Beam system. A static and a dynamic sliding-mode controllers are designed using a simplified model of the system; the simplified model renders the system feedback linearizable. Then, a static and a dynamic sliding-mode controllers are designed using the complete model of the Ball on a Beam system. Simulation results indicate that the proposed controllers work well.The four proposed controllers are implemented using an experimental setup. Implementation results indicate that the proposed control schemes work well. As expected, it is found that the proposed two controllers which are designed using the complete model of the system gave better performance than the ones designed using the simplified model of the system. In addition, the experimental results indicate the two dynamic controllers greatly reduce the chattering usually associated with sliding-mode controllers.

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