Performance analysis of PD Controller tuning in Frequency domain for Dual-Motor Ball & Beam System (DMBB)

The proposed Dual Motor Ball & Beam (DMBB) is the best example of a non-linear system. The Dual Motor Ball and Beam (DMBB) is quite complex to regulate the ball position because the output of the ball position increases without limit when the beam angle is fixed as an input. Hence, a suitable controller is needed to control the ball position on the beam by varying the angle of the beam. In this proposed work, required two PD controllers one for to control the Dual motors and another to regulate the ball's position on beam. In this research work, DMBB system has implemented in a linear model, each motor's models also represented in linear/transfer function model. The motor angular position and the position of the ball are controlled by Proportional Derivative controllers. The PD controller parameters such as proportional gain Kp & derivative gain K
d
are tuned by using proposed frequency domain/response method. The performance of PD controller tuned by frequency response method is compared with conventional Ziegler's Nichols Tuning (Z-NT).