BALL & BEAM

APPARATUS

DYNAMICS

DYNAMICS

Open loop response of position w ithout controller

400

350

300

Amplitude

250

200

150

100

50

5
Time (seconds)

10

Root locus of G2
1.5

0.135

0.095

0.065

0.042

0.02

1.4
1.2

1
0.2
0.8
0.6

0.3

Imaginary Axis (seconds-1)

0.5

0.4
0.55

Pole1,2=0

0.2

0
0.2

0.55

0.4

-0.5
0.3

0.6
0.8

-1

0.2
1
1.2

0.135
-1.5
-0.2

0.095
-0.15

0.065
-0.1

0.042
-0.05

0.02

1.4
0

Real Axis (seconds -1)

0.05

0.1

0.15

Open loop response of beam angle controller

160

140

120

Amplitude

100

80

60

40

20

5
Time (seconds)

10

Root locus of P-G1

0.08
0.998

0.996

0.993

0.986

0.965

0.86

0.06
0.999

Imaginary Axis (seconds-1)

0.04

0.02

1.4
0 1

-0.02

1.2

0.8

0.6

0.4

0.2

-0.04
0.999
-0.06
0.998
-0.08
-1.4

-1.2

0.996
-1

0.993
-0.8

-0.6

0.986
-0.4

Real Axis (seconds -1)

0.965

0.86

-0.2

0.2

closed loop response of beam angle controller

2
1.8
1.6
1.4

Amplitude

1.2
1
0.8
0.6
0.4
0.2
0

5
Time (seconds)

10

Root locus of P-G1-closed loop

1.5
0.999

Imaginary Axis (seconds-1)

0.997

0.995

0.989

0.975

0.88

0.5 1

30
0

25

20

15

10

Pole=-8
-0.5 1

-1

0.999
-1.5
-30

0.997
-25

-20

0.995
-15

0.989
-10

Real Axis (seconds -1)

0.975
-5

0.88
0

Open loop response of beam angle controller+ball&beam apparatus

160

140

120

Amplitude

100

80

60

40

20

5
Time (seconds)

10

Root locus of P-G1-G2

0.08
0.998

0.996

0.993

0.986

0.965

0.86

0.06
0.999

Imaginary Axis (seconds-1)

0.04

0.02

1.4
0 1

-0.02

1.2

0.8

0.6

0.4

0.2

Pole1,2=0
Pole=-8

-0.04
0.999
-0.06
0.998
-0.08
-1.4

-1.2

0.996
-1

0.993
-0.8

-0.6

0.986
-0.4

Real Axis (seconds -1)

0.965

0.86

-0.2

0.2

Lead Compensator

Open loop response w ith Lead compensator

70

60

Amplitude

50

40

30

20

10

5
Time (seconds)

10

Root locus of lead compensator

0.2 0.998

0.996

0.991

0.98

0.95

0.85

0.15
0.999

Imaginary Axis (seconds-1)

0.1

0.05

3
0 1

-0.05

2.5

1.5

0.5

Pole=-2.5
Zero=-0.25

-0.1
0.999
-0.15
-0.2 0.998
-3

0.996
-2.5

-2

0.991
-1.5

0.98
-1

Real Axis (seconds -1)

0.95
-0.5

0.85
0

0.5

Root locus w ith Lead compensator

25
0.76

0.64

0.5

0.34

0.16

20 0.86
15

Imaginary Axis (seconds-1)

0.94
10
5

0.985

35
0
-5

30

25

20

15

10

0.985

-10
0.94
-15
-20 0.86
0.76
-25
-35

-30

0.64
-25

-20

0.5
-15

0.34
-10

0.16
-5

Real Axis (seconds -1)

10

15

Closed loop response with Lead compensator

3

2.5

Kp2=0.1
Alpha=0.1
T=4
Kp1=8

1.5

0.5

10

Closed loop response w ith Lead compensator that improves Ts & PO%
3.5

Amplitude

2.5

Kp2=0.3
Alpha=0.1
T=4
Kp1=8

1.5

0.5

0
0

5
Time (seconds)

10

Closed loop response w ith Lead compensator that improves Ts & PO%
4

3.5

Amplitude

2.5

Kp2=0.5
Alpha=0.1
T=4
Kp1=8

1.5

0.5

5
Time (seconds)

10

Closed loop response with Lead compensator that improves Ts & PO%
20

15

10

Kp2=0.1
Alpha=0.1
T=4
Kp1=8

-5

-10

10

Closed loop response with Lead compensator that improves Ts & PO%
20

15

10

Kp2=0.3
Alpha=0.1
T=4
Kp1=8

-5

-10

-15

10

Closed loop response with Lead compensator that improves Ts & PO%
20
15
10
5

Kp2=0.5
Alpha=0.1
T=4
Kp1=8

0
-5
-10
-15
-20

10

Closed loop response with Lead compensator that improves Ts & PO%
20

15

10

Kp2=0.1
Alpha=0.05
T=6
Kp1=8

-5

-10

10

Closed loop response with Lead compensator that improves Ts & PO%
20
15
10
5

Kp2=0.1
Alpha=0. 5
T=1
Kp1=8

0
-5
-10
-15
-20

10

BODE PLOT OF OPEN LOOP TF OF BALL/BEAM APPARATUS

Bode Diagram
Gm = 1.93e-015 dB (at 1.95 rad/s) , Pm = 0 deg (at 1.95 rad/s)
60

Magnitude (dB)

40
20
0
-20
-40
-179

Phase (deg)

-179.5
-180
-180.5
-181
-1

10

10

Frequency (rad/s)

10

BODE PLOT OF OPEN LOOP TF OF BEAM ANGLE

CONTROLLER AND BALL&BEAM APPARATUS
Bode Diagram
Gm = -Inf dB (at 0 rad/s) , Pm = -13.5 deg (at 1.92 rad/s)
100

Magnitude (dB)

50
0
-50
-100

Phase (deg)

-150
-180

-225

-270
-1

10

10

10

Frequency (rad/s)

10

10

BODE PLOT OF OPEN LOOP TF WITH LEAD

COMPENSATOR
Bode Diagram
Gm = 15.5 dB (at 4.17 rad/s) , Pm = 41.6 deg (at 1.35 rad/s)
100

Magnitude (dB)

50
0
-50
-100
-150
-90

Phase (deg)

-135
-180
-225
-270
-2

10

-1

10

10

10

Frequency (rad/s)

10

10

BODE PLOT OF CLOSED LOOP TF WITH LEAD COMPENSATOR

Bode Diagram
Gm = 14 dB (at 4.17 rad/s) , Pm = 60.1 deg (at 2.01 rad/s)

Magnitude (dB)

50

-50

-100

Phase (deg)

-150
0

-90

-180

-270
-1

10

10

10

Frequency (rad/s)

10

10

PERFORMANCE