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The Ball and Beam system is a quite famous control exercise: a ball
must be balanced on a beam at a certain position. The controls in
the GUI are few and self-explainatory.
In the Controller Gains tab, you can tweak the cascade PID
controllers that allows the system to track ball position and beam
angle. The default PID gain values work quite well: however, take
your time to experiment.
The two check-boxes allows you to add noise to beam angle and
ball position measurement, to test if the controller is robust
to real world disturbances.
You can bother the controller by hitting the ball, just clicking
on the bottom left button "Hit the Ball". The two-state button
"Start Controller" does what it says: toggles the controller
ON/OFF.
You can change the ball position set point with the slider. |
