Tracking Trajectories using Sliding Control for Ball and Beam with deviated axis: Simulation and Experiment

Abstract

Compared with linear algorithms, nonlinear algorithms ensure the system stability
in terms of mathematics as well as better working space, especially in controlling the
trajectories. In this paper, we build SMC controller with control parameters searched by GA for
B&B with deviated axis – a classical SIMO. Thence, we also investigate this controller through
experimental model by processor STM32F4. Through simulation and experiment, our
trajectories tracking SMC controller is successful for this model.