Abstract & Overview
Ball and beam system is found in most laboratories of control systems engineering due to its simplicity and easiness in construction and control theoretically. The system consists of a motor attached with a beam at the center and a ball, which is placed on the top of beam. The problem with this system, is in the time of an electrical control signal is applied to the motor, the beam can be tilted about its horizontal axis and the ball will roll on the top of the beam. Therefore, if the system cannot be controlled properly, the ball may fall down from the beam. In this paper, PID controller Algorithm based on Arduino microcontroller which depends on the feedback signal is used to control the ball position using linear potentiometer position sensor. MATLAB software program has been used to plot the system response by observing the ball position for a predefined amount of time. The controller parameters have been tuned using trial and error method, tested for different set point tracking and for disturbance rejection in order to obtain a good system characteristic.