Balancing a Ball on a tilting beam is very interesting classical problem in the field of control system engineering. In this paper an Proportional Derivative (PD) controller has been designed for a nonlinear, open-loop unstable Ball and Beam system. The linearized system ID has been deduced via bode plot decomposition method. To create the Bode plot - first, a zero has been added very close to origin for stabilizing that unstable system. Then a set of input/output data has been generated and corresponding Lissajous patterns have been generated from those input/output data. Examining the Lissajous patterns the Bode plot has been generated. Linearized system transfer function has been found by analyzing the Bode plot. Then a PD controller has been designed for the linearized system that meets the desired design specifications. Finally the PD controller is applied on the original nonlinear plant. Success of this method is verified by extensive simulation. A digital realization of the PD controller is implemented, also.
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