NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************

Ball & Beam

Transfer function of the READ/WRITE HEAD CONTROLLER:

M = mass of the ball = 0.11 kg

R = radius of the ball = 0.015 m
d = lever arm offset= 0.03 m
g = gravitational acceleration= 9.8 m/s^2
L = length of the beam= 1.0 m
J = ball's moment of inertia= 9.99e-6 kgm^2
r = ball position coordinate
For some specific values of variables, forms the transfer function , we get
So, Transfer function:
0.21

NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************
------------s^2+0*s+0

Pole Zero Plot---Root Locus---Step Response of un-compensated system.

MATLAB CODE
%open loop
clc
syms s
g=(0.21)/(s^2)
[n,d]=numden(g)
num=sym2poly(n)
den=sym2poly(d)
figure(1)
rlocus(num,den)
figure(2)
step(num,den)
figure(3)
zplane(num,den)

NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************

NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************

NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************

NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************

NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************

Pole Zero Plot---Root Locus---Step Response of compensated system.

For improving steady state error we use PI compensator.
MATLAB CODE
% close loop compensator
%with compensator
syms s
g=(0.21)*(s+2)/(s*(s^2)+(0.21)*(s+2))
[n,d]=numden(g)
num=sym2poly(n)
den=sym2poly(d)

NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************
figure(4)
rlocus(num,den)
title('rlocus')
figure(5)
step(num,den)
title('Step response')
figure(6)
zplane(num,den)
title('pole-zero plot')

NAME----nomi illias (S-3120)

# 02
CLASS-----TELECOM - 21
CONTROL SYSTEM

ASSIGNMENT

*****************************

Step Response of compensated system.

The compensator Improves steady state error