Design of an Embedded Control System Based on the Quasi-Time Optimal Control Law When Limiting the Control Signal for The Ball and Beam System

摘要

In the paper, it is presented about the design of the quasi-time optimal control law for Ball and Beam system when the control signal is limited. Impact signal limits are characteristic of real physical systems, so when designing embedded control systems this is an important factor to consider. In this design method, the transformation from the equations of object system to equations with limited control signals is made using extra variables. Proceed to synthesize the new control laws on the new system by the quasi-time optimal control. By the proposed synthesizing method, the control law ensures that the embedded control system works stably and the system works quickly in terms of time. Simulation and experimental results show the effectiveness of the proposed design.