Real time control of ball and beam system with model reference adaptive control strategy using MIT rule

摘要

During real time control of a dynamic system, one needs to design control systems with advanced control strategies to handle inherent nonlinearities and disturbances. This paper deals with the designing of a model reference adaptive control system with the use of MIT rule for real time control of a ball and beam system. This paper uses the gradient theory to develop MIT rule in which one or more parameters of adaptive controller needs to be adjusted so that the plant could track the reference model. A linearized model of ball and beam system is used in this paper to design the controller on MATLAB and the designed controller is then applied for real time control of ball and beam system. Simulations carried on SIMULINK and MATLAB show good performance of the designed adaptive controller in real time.