LQR Control for Ball and Beam System with Middle Axis

Abstract

This paper presents the application of LQR to control a B&B with middle axis – a popular SIMO model in control engineering. By using results from measurement andsimulation, LQR is proven to work well in balancing B&B with middle axis. Besides, results from calibration control parameters are presented to maintain theory of LQR and it shows important parameters of LQR controller for this model (instead of focusing on many
other components). This study gives academic contribution in own calibration for B&B with middle axis. Thence, this investigation creates basement for development of finding and optimizing control parameters for this model.