BUILDING SLIDING MODE CONTROLLER FOR BALANCING NONLINEAR BALL AND BEAM SYSTEM

Abstract

In recent years, many subjects have been interested in designing controllers for nonlinear model systems for testing various control algorithms. Many education nonlinear system models are unstable. The complete system in this paper includes a ball, a beam, a motor, and several sensors. The torque is generated by the motor to control the position of the ball and beam system, where the ball rolls freely on the beam. A control law is developed, and asymptotic stability based on sliding surface. The purpose is to design a controller for the ball position with the optimal energy and minimum overshoot. To illustrate the efficiency of the proposed controller, the simulation results at different working points are demonstrated and compared with other controllers. Finally, the control algorithms are compared together to recognize the best solution