LQR control for ball and beam system with deviated axis: simulation and experiment

Abstract

The Ball and Beam system with Deviated Axis is a single input-multi output
(SIMO) system commonly used in laboratories to test control algorithms. In this paper,
we build and investigate an LQR controller in simulation. The controller demonstrates the
ability to control the system balance in different placement positions. Next, we conduct a
survey of the above controller in the object of the deflection bar through the control board
STM32F4. Through simulation and experiment, our LQR controller has successfully
controlled the system. In addition, the control parameters adjustment rules are also
verified and summarized.