| Title |
Design of dual PID-PD controller and gain tuning method using gain-scaling factors for a ball-beam system |
| Authors |
김성협(Sung-Hyup Kim) ; 최호림(Ho-Lim Choiark) |
| DOI |
https://doi.org/10.5370/KIEE.2025.74.12.2310 |
| Keywords |
Ball and beam system; PID control; Gain-scaling factor; Gain-tuning; Dual control |
| Abstract |
In this paper, we propose a dual -PID/PD controller for the control of a ball position in a ball-and-beam system. The proposed controller has two parts: a -PID controller is for controlling the servo motor angle and a -PD controller is for controlling the position of the ball. The state equations of the ball-and-beam system are expressed separately into two parts by considering the servo motor angle as a virtual input. The each separately controlled system is analyzed using the Routh-Hurwitz method. which provides the valid ranges of control gains. The output responses to changes in parameters are verified experimentally with selected gain values. Through the use of simulation and actual experiments, the usefulness of our proposed dual -PID/PD control method is clearly demonstrated. |