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Intelligent Dynamic Inversion Controller Design for Ball and Beam System

Ibrahim M. Mehedi1,2,*, Abdulah Jeza Aljohani1,2, Md Mottahir Alam1, Mohamed Mahmoud3, Mohammed J. Abdulaal1, Muhammad Bilal1,2, Waleed Alasmary4

1 Department of Electrical and Computer Engineering (ECE), King Abdulaziz University, Jeddah, 21589, Saudi Arabia
2 Center of Excellence in Intelligent Engineering Systems (CEIES), King Abdulaziz University, Jeddah, 21589, Saudi Arabia
3 Electrical and Computer Engineering, Electrical and Computer Engineering, TN, 38505, United States
4 Computer and Information Systems, Umm Al-Qura University, Makkah, Saudi Arabia

* Corresponding Author: Ibrahim M. Mehedi. Email: email

Computers, Materials & Continua 2022, 72(2), 2341-2355. https://doi.org/10.32604/cmc.2022.022993

Abstract

The Ball and beam system (BBS) is an attractive laboratory experimental tool because of its inherent nonlinear and open-loop unstable properties. Designing an effective ball and beam system controller is a real challenge for researchers and engineers. In this paper, the control design technique is investigated by using Intelligent Dynamic Inversion (IDI) method for this nonlinear and unstable system. The proposed control law is an enhanced version of conventional Dynamic Inversion control incorporating an intelligent control element in it. The Moore-Penrose Generalized Inverse (MPGI) is used to invert the prescribed constraint dynamics to realize the baseline control law. A sliding mode-based intelligent control element is further augmented with the baseline control to enhance the robustness against uncertainties, nonlinearities, and external disturbances. The semi-global asymptotic stability of IDI control is guaranteed in the sense of Lyapunov. Numerical simulations and laboratory experiments are carried out on this ball and beam physical system to analyze the effectiveness of the controller. In addition to that, comparative analysis of RGDI control with classical Linear Quadratic Regulator and Fractional Order Controller are also presented on the experimental test bench.

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APA Style
Mehedi, I.M., Aljohani, A.J., Alam, M.M., Mahmoud, M., Abdulaal, M.J. et al. (2022). Intelligent dynamic inversion controller design for ball and beam system. Computers, Materials & Continua, 72(2), 2341-2355. https://doi.org/10.32604/cmc.2022.022993
Vancouver Style
Mehedi IM, Aljohani AJ, Alam MM, Mahmoud M, Abdulaal MJ, Bilal M, et al. Intelligent dynamic inversion controller design for ball and beam system. Comput Mater Contin. 2022;72(2):2341-2355 https://doi.org/10.32604/cmc.2022.022993
IEEE Style
I.M. Mehedi et al., "Intelligent Dynamic Inversion Controller Design for Ball and Beam System," Comput. Mater. Contin., vol. 72, no. 2, pp. 2341-2355. 2022. https://doi.org/10.32604/cmc.2022.022993



cc This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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