A NOVEL LABORATORY SETUP TO STUDY ADVANCED NONLINEAR AND ROBUST CONTROLLER CONCEPTS.

摘要

In this invention disclosure, we have presented several novel apparatuses for enhancing as well as increasing the suitability of classic ball on beam setup. The classic ball on beam in its original form is not quite suitable as Masters or research level experimentations. Our apparatuses for increasing complexity of the classic system are obviously non-obvious for the reasons explained in the description. The added nonlinear dynamics changes the dynam-ical equations governing the system. These added dynamics are not linearizable and thus changes the structure of the system completely as evidenced using block diagrams. Two of the novelties, namely, electromagnet and rotating table modify the system structure in a way similar to each other. However, the use of second beam changes the system structure in very interesting manner. Moreover, the unidirectional nature of the forces exerted through our proposed innovations make the controller design more challenging.