PID control for Ball on Wheel: Simulation and Experiment

Abstract

Ball on wheel is a new model which is recently developed in control engineering. This is a simple model satisfying requirement of learning and researching algorithms of students. In this paper, we present an electrical-mechanical structure for this model. A method of PID is designed for this model. Simulation and experimental results show the success of this method. Besides, calibrations of parameters are done to confirm the
exactness of PID theory.