Author : R.Monika 1
Date of Publication :16th January 2018
Abstract: Ball and Beam System (BABS) is a nonlinear and also an unstable system specially designed for understanding various control problems. The Proportional Integral and Derivative (PID) controller is mostly used to stabilize the ball on the beam. Initially, the PID controller is designed using Skogestad Internal Model Control (SIMC) tuning method for stabilizing the ball at the specified position on the beam. The behaviour of the BABS is based on the parameters of PID controller. The parameters of PID controller are optimized using Particle Swarm Optimization (PSO) for improving the performance of the ball and beam system. The settling time is used as a performance criterion for optimization. The simulation results show that the PSO based PID controller gives better performance when compared to the SIMC based PID controller of BABS.
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