Performance analysis of State-Estimator Implementation on Hardware-In-The-Loop of Ball and Beam System

Abstract

Ball and beam system (BBS) is a commonly used model to represent several complex and unstable systems. BBS is underactuated system. It is an ideal model to implement kind of control theory. Most of control design are done using simulation method. This method is not realistic because it is conducted on the ideal situation which implies that the result cannot be directly used to control the real system. Hardware in the loop (HIL) simulation is a method that can be used to solve these problems. The use of real controller makes the design experience more realistic and ready to implement. This paper proposes a design of full state feedback for BBS stabilization using HIL simulator. The contribution of this work is to design state estimator on the BBS setup to estimate position and velocity. The result shows that the proposed control and estimator are successfully implemented. The estimator can estimate the output position with time convergent about 1,32 second. The performance of the system is similar with simulation and real plant implementation. It shows that this method can represent the dynamic response of the system on full state feedback control.