Hybrid Arrangement of Iterative Learning Control Strategy for Ball and Beam System

Abstract

This paper deals with the control of the ball position on a beam using hybrid arrangement of iterative learning control (ILC). If the process to be controlled is an under-actuated, unstable, nonlinear, and double integrating one, the conventional controllers are not able to control the system adequately. To overcome this problem, the ILC strategy is coupled in series with the conventional control scheme, thereby stabilizing the process with better convergence. The proposed hybrid LIC (HILC) strategy is embedded in the existing control loop. A real-time implementation of the proposed control technique is carried out and its performances are analyzed.

KEYWORDS:

• Ball and beam system
• Cascaded ILC
• Hybrid iterative learning control (ILC)

Additional information

Notes on contributors

P. Ravichandran

P Ravichandran received his doctorate from Anna University, Chennai, India. At present, he is working as an associate professor at Kongu Engineering College, Tamil Nadu, India. He has 13 years of experience in teaching. His research focus is on areas of mechatonics system design, control systems and optimization.

S. Sathiyavathi

S Sathiyavathi received her doctorate from Anna University, Chennai, India. Currently, she is an associate professor in the Department of Mechatronics, Kongu Engineering College, Erode. She has 12 years of experience in teaching. Her research interests are in the areas of control systems and process control. Email: [email protected]

S. Sathish Babu

S Sathish Babu had his graduation in electronics and instrumentation engineering and Master of Engineering (Process Control and Instrumentation) at Annamalai University. He received Doctor of Philosophy from Annamalai University in the field of instrumentation. He has nearly 20 years of teaching experience. His research interests are in the areas of process control, bio medical and image processing. Email: [email protected]

A. Vimala Starbino

A Vimala Starbino received master’s degree in control and instrumentation from Anna University, Chennai, India. Currently, she is a full-time scholar in the Department of Mechatronics, Kongu Engineering College, Tamil Nadu, India. Her research interests are in the areas of control systems, process control and nonlinear systems. Email: [email protected]